METHOD FOR OPERATING A TAMPING MACHINE

Abstract

A method operates a tamping machine on a track. The tamping machine contains a tamping unit, a lifting and lining unit, a measuring system with a measuring value transducer, and a control/regulating device. The lifting and lining unit being actuated by the control/regulating device as a function of a track position recorded by the measuring system in such a way that a treated track section is lifted to a target level during a lifting time. At least two controllers set up in the control/regulating device are selected in such a way that the first controller is activated in a first lifting mode for standard operation and that the second controller is activated in a second lifting mode for turnouts. The respective controller is optimized for the assigned controlled line.

Description

FIELD OF TECHNOLOGY

The invention relates to a method for operating a tamping machine on a track, comprising a tamping unit, a lifting and lining unit, a measuring system with a measuring value transducer, and a control/regulating device, with the lifting and lining unit being actuated by the control/regulating device as a function of a track position recorded by means of the measuring system in such a way that a treated track section is lifted to a target level during a lifting time. The invention further relates to a tamping machine for carrying out the method.

PRIOR ART

Tamping machines have been known for a long time and are used to create or restore a predefined track position of a track supported in a ballast bed. During operation, the track is travelled on with the tamping machine, with a lifting and lining unit lifting a track section located between two rail running gears. The completed lifting is recorded using a machine's own measuring system. A control/regulating device is used to actuate the lifting drives of the lifting and lining unit, with the track being lifted to a predefined target level in a control circuit. Such a method is known, for example, from AT 369455 B.

With such a control circuit for track lifting according to prior art, it should be noted that when correcting the position of turnouts, a lifting duration to reach a predefined target level is longer due to the higher weight. This means that a tamping cycle in a turnout takes correspondingly longer because the desired track position can only be fixed by means of a tamping unit after lifting has taken place.

PRESENTATION OF THE INVENTION

The object of the invention is to improve a method of the kind mentioned above in such a way that an efficient lifting process can also be carried out in a turnout. A further object of the invention is to indicate a corresponding tamping machine.

According to the invention, these objects are achieved by the features of independent claims 1 and 12. Dependent claims indicate advantageous embodiments of the invention.

At least two controllers set up in the control/regulating device are selected in such a way that the first controller is activated in a first lifting mode for standard operation and that the second controller is activated in a second lifting mode for turnouts. The respective controller is optimized for the assigned controlled line. The first controller is used on a simple track, where the track panel consisting of sleepers and two rails is lifted. In a turnout, where the controlled line has a different characteristic, the second controller is used. This achieves approximately the same lifting duration and control quality for both controlled lines. In addition, the controllers can be adjusted so that in both lifting modes the machine and the track or turnout are not overloaded. For example, higher lifting forces occur in the second lifting mode, which could lead to overloading or a strong overswinging in the simple track.

In a further development of the method, the first controller is activated, in particular as a P controller, and a PD, PI, or a PID controller is activated as the second controller. The P controller (proportional controller) is used on a track line between turnouts. It is easy to set and provides sufficiently good results for standard operation. In a turnout, however, this first controller leads to disruptive increases in the lifting duration. For this reason, the PD, PI, or PID controller (controller with proportional component and integrating component, or with integrating and differentiating component) is used in the second lifting mode. Such a controller can be adjusted more precisely to the conditions prevailing in a turnout, so that a shorter lifting duration is achieved with high lifting forces while maintaining the same quality. In a further embodiment, it can also be useful to design the first controller as a PD, PI, or PID controller. This can also be used to ensure a more precise actuation of the lifting and lining unit in the line area, if necessary.

In a further improvement, a lifting of the track recorded with the measuring value transducer is compared with a predefined threshold value, with an electronic enable for lowering the tamping unit into a ballast bed of the track being generated as soon as the lifting reaches the threshold value. This protects the tamping unit and the ballast bed because the actual tamping process with the penetration and squeezing of the tamping tools only begins when the lifting of the track is sufficiently advanced. For example, an enable occurs when 95% of the desired lifting has been achieved.

In a simple embodiment of this improvement, the enable for lowering the tamping unit is signalled to an operator by means of an enable signal, whereupon a height drive of the tamping unit is activated by the operator. For example, the operator is audibly and/or optically notified that the desired lifting has taken place or that a predefined threshold depending on the desired lifting (e.g. 90%) has been reached.

In an alternative method variant, a height drive of the tamping unit is automatically activated as soon as the enable for lowering the tamping unit has taken place. This variant is useful if the method is used as part of an automated tamping process or with the use of an assistance system.

In any case, it is an advantage if a warning signal is generated shortly before the tamping unit is lowered. In this way, all machine personnel is warned audibly and/or optically before the tamping unit is activated.

Advantageously, the first lifting mode or the second lifting mode is activated by means of an operating element. In this way, an operator can switch between the two lifting modes at any time. It is preferably displayed to the operator which lifting mode is more suitable for the situation at hand.

In addition or alternatively, a lifting force and/or a lifting duration acting on the track from the lifting and lining unit and, if necessary, from an additional lifting unit is favourably recorded, with the system automatically switching from one lifting mode to the other lifting mode when a threshold value is reached. This unburdens the operator and allows the correct lifting mode to be selected quickly and safely.

The recorded lifting force is usefully compared with a lifting force limit by means of a comparator, with the output of the comparator producing a selection signal when a predefined lifting is reached in such a way that the first lifting mode is activated when the lifting force measuring value is less than or equal to the lifting force limit, and the second lifting mode is activated if the lifting force limit is exceeded. The lifting force serves as a reliable parameter for selecting the lifting mode. As soon as the machine enters a turnout area, the necessary lifting forces increase so that switching to the second lifting mode takes place when the limit is exceeded. Conversely, when leaving a turnout area, the limit is reached from above and the system switches back to the first lifting mode.

To further improve the method, the control/regulating device is provided with position data of the track for switching from one lifting mode to the other lifting mode. With the position data stored in an electronic memory and a comparison with a recorded actual position, switching between the two lifting modes can be carried out reliably.

Preferably, a sensor arranged on the tamping machine is used to recognize the start or end of a turnout, with a corresponding signal being forwarded to the control/regulating device. This achieves a level of automation that largely unburdens the user. The automated processes are displayed to the user for monitoring, with it being possible to intervene in a process if necessary.

In the tamping machine according to the invention for carrying out one of the methods described, at least two controllers are set up in the control/regulating device, with the first controller being assigned to a first lifting mode for a standard operation, and with the second controller being assigned to a second lifting mode for turnouts. With a tamping machine of this type, an optimal lifting process can be carried out for all sections of a track system when correcting the track position.

Advantageously, the first controller in the control/regulating device is set up, in particular as a P controller, and a PD, PI, or a PID controller is set up as the second controller. Both controllers are set up in such a way that a high control quality with a short lifting duration is achieved for the respective controlled line. This results overall in short tamping cycle times and short track maintenance times both on a track line and in a turnout.

The second controller preferably comprises a parallel connection of a P element, an I element, and a D element. This allows the second controller to flexibly adapt to turnouts to be treated. The individual elements of the controller can be changed separately to optimize the characteristics of the controller.

To further improve the tamping machine, a sensor, in particular a camera, a 2D laser scanner, and/or a 3D laser scanner for recognizing turnouts is arranged in front of the lifting and lining unit in a working direction. With these additional devices, extensive automation of the tamping process can be realized. In particular, a start and an end of a turnout is recognized so that an automated switching between the two lifting modes takes place.

BRIEF DESCRIPTION OF THE DRAWINGS

In the following, the invention is explained by way of example with reference to the accompanying figures. The following figures show in schematic illustrations:

FIG. 1 Tamping machine on a track

FIG. 2 Proportional controller

FIG. 3 Controller structure with a first controller and a second controller

FIG. 4 Block diagram for automatic selection of the lifting mode

DESCRIPTION OF THE EMBODIMENTS

The tamping machine 1 shown in FIG. 1 comprises a machine frame 2, supported on rail running gears 3, that can be moved on a track 4. The track 4 has a track panel, consisting of sleepers 5 and rails 6 fixed thereon, which is supported in a ballast bed 7. Sections of the track 4 are divided into simple track lines, turnouts, and crossings. When correcting the position of such a track system, the tamping machine 1 must treat various track sections, in particular, simple track lines and turnouts.

A lifting and lining unit 8 and a tamping unit 9 are arranged on the machine frame 2 of the tamping machine 1. An additional lifting unit 10 is used to lift a diverging rail in a turnout. The lifting of a track section or a turnout by the lifting and lining unit 8 and, if necessary, by the additional lifting unit 10 takes place in relation to a machine's own measuring system 11. In the simplest case, this measuring system 11 comprises wire chords 12 which are tensioned over each rail 6 between measuring wheel axles 13 guided on the track 4. Other measuring systems 11 can also be used for the present method, in particular, optical measuring systems that have optical measuring chords as well as camera systems with pattern recognition.

In any case, the measuring system 11 comprises a measuring value transducer 14 which records the level of the track 4 in the area of the lifting and lining unit 8. For example, a further measuring wheel axle 13 is arranged, with which changes in the distance of the rails 6 relative to the wire chords 12 serving as reference elements are determined via rods. For this purpose, the measuring value transducer 14 comprises a rotary potentiometer that engages positively with the respective wire chord 12 via fork-shaped sensors. In an optical measuring system, the measuring value transducer 14 is, for example, an image sensor for analysing optical signals.

A control/regulating device 15 is provided for actuating the lifting and lining unit 8. This is used, for example, to actuate proportional valves that are assigned to hydraulic lifting drives 16 of the lifting and lining unit 8. A control circuit is set up to lift a track section or a turnout. The system consisting of the track or turnout and the lifting arrangement forms a controlled line on which various disturbance variables can act.

The controlled variable is, in particular, a lifting which is recorded by the measuring value transducer 14. A corresponding measuring value 17 of the lifting is fed back and compared with a target lifting value 18 as a reference variable. The target lifting value 18 results from a desired track position and is predefined for the control/regulating device 15, for example, by means of a guiding computer. The control deviation resulting from measuring value 17 and target lifting value 18 serves as input for a controller 19, which is designed as a P controller, for example (FIG. 2). An actuating signal 20 is present at the output of the controller 19, for example, an actuating voltage for a hydraulic valve of the lifting drive 16. In this way, the track section currently being treated is lifted to a target level in a controlled lifting process.

According to the invention, at least two controllers 19, 21 are set up in the control/regulating device 15. A corresponding example is shown in FIG. 3. As in FIG. 1, the input signal for the controllers 19, 21 is a control deviation formed from the measuring value 17 and the target lifting value 18. The first controller 19 is, for example, a P controller (P element 22), which generates an actuating signal 20 at the output for the first lifting mode for standard treatment of track sections.

The second controller 21 is, for example, a PID controller with a parallel connection of a P element 22, an I element 23, and a D element 24. These elements 22, 23, 24 of the second controller 21 are matched to each other in order to achieve an optimum lifting of a turnout. The sum of the output signals forms the actuating variable 20 generated by the second controller 21.

By means of a selection signal 25 and a switching element 26, one of the outputs of the two controllers 19, 21 is enabled so that either the first lifting mode for standard operation or the second lifting mode for turnouts is activated. In the simplest case, the selection signal 25 is determined by means of an operating element. An operator 27 has a clear view of the line to be treated.

Advantageously, technical devices are provided to support the operator 27 or to automate the selection process on the tamping machine 1. For example, a camera 29 for recording the track 4 is arranged in front of the lifting and lining unit 8 in a working direction 28. The recordings are transferred in real time to a computer 30 in which an analysis software is installed. Pattern recognition is used to automatically recognize where a turnout area begins and where it ends. The current positions of the lifting and lining unit 8 and the additional lifting unit 10 in relation to a recognized turnout are known via a distance measuring device 31.

For example, 2D laser scanners 32 positioned above the rails 6 also serve as sensors for recognizing a turnout. They recognize switch blades, diverging rails, or common crossings. A 3D laser scanner (rotation scanner) 33 arranged at the front of the tamping machine 1 records a three-dimensional image of the track area being travelled on, from which the start and end of a turnout can also be determined.

Another aid is a GNSS receiver 34, which is used to determine the exact position of the tamping machine 1 via a navigation satellite system. Position data for turnouts is stored in the control/regulating device 15 so that a comparison with the current position recognizes when the machine 1 enters or leaves a turnout.

For automatic switching of the lifting modes, it is useful to record the lifting force and/or a lifting duration acting on the track or turnout from the lifting and lining unit 8 and, if necessary, from the additional lifting unit 10. When a predefined limit is reached, the system automatically switches from one lifting mode to another. For example, a force measuring cell is arranged to measure the lifting force. A pressure sensor 35, which measures the hydraulic pressure in hydraulic lifting drives of the lifting and lining unit 8, is also suitable as a sensor for detecting the lifting force. For example, a lifting force of approx. 100 kN is achieved in standard operation. This corresponds to a hydraulic pressure of approx. 100 bar. On a simple track line, this results in a lifting duration of 0.5-1 seconds. Approximately twice the lifting force is achieved in a turnout, resulting in a lifting duration of 1-4 seconds.

The automated switching is explained in greater detail with reference to FIG. 4. A comparator 36 compares a lifting force measuring value 37 with a lifting force limit 38. A notification signal 39 indicates that a predefined target lifting value 18 has been reached. As soon as a corresponding notification is received, the lifting mode is set. If the lifting force measuring value 37 is less than or equal to the lifting force limit 38 at this time, the comparator 36 produces a selection signal 25 to activate the first lifting mode for standard operation. However, if the lifting force measuring value 37 is greater than the lifting force limit 38 at this time, a selection signal 25 for activating the second lifting mode for turnouts is present at the output of the comparator 36. The predefined lifting force limit 38 is, for example, in a range of 100 kN to 130 kN, preferably 110 kN.

In addition, a display 41 is arranged in an operator cab 40 in which the results of the sensors 29, 32, 33, 35 and the automated selection of the lifting modes are displayed. The operator 27 can also be alerted to certain processes by means of audible notifications.

Furthermore, it is displayed to the operator 27 when a lifting has reached a predefined threshold value (e.g. 95%) and the tamping unit 9 is enabled. A height drive 42 of the tamping unit 9 is activated either by the operator 27 or automatically. The tamping unit 9 therefore only penetrates the ballast bed 7 when the lifting is sufficiently advanced. This ensures a continuous tamping process in which the penetration process is immediately followed by a squeezing process of the tamping tools 43. In this way, both the tamping unit 9 and the ballast bed 7 are protected.

In order to warn other operating personnel before the tamping unit 9 is activated, an audible warning device 44 is arranged on the tamping machine 1. An optical warning device 45 can also be fitted. This ensures that an automated sequence of the tamping process does not endanger anyone on the track 4.

Claims

1-15 (canceled)

16. A method for operating a tamping machine on a track, the tamping machine containing a tamping unit, a lifting and lining unit, a measuring system with a measuring value transducer, and a control/regulating device, which comprises the steps of: actuating the lifting and lining unit via the control/regulating device in dependence on a track position recorded by means of the measuring system such that a treated track section is lifted to a target level during a lifting time; andselecting at least two controllers set up in the control/regulating device such that a first controller of the controllers is activated in a first lifting mode for standard operation and that a second controller of the controllers is activated in a second lifting mode for turnouts.

17. The method according to claim 16, wherein: the first controller is activated as a proportional controller; andthe second controller is activated as a proportional-derivative controller, a proportional integral controller, or a proportional-integral-derivative controller.

18. The method according to claim 16, which further comprises comparing a lifting of the track recorded with the measuring value transducer with a predefined threshold value, and in that an enable for lowering the tamping unit into a ballast bed of the track is generated as soon as the lifting reaches the predefined threshold value.

19. The method according to claim 18, which further comprises enabling a lowering of the tamping unit by signaling to an operator by means of an enable signal, and in that a height drive of the tamping unit is activated by the operator.

20. The method according to claim 18, which further comprises automatically activating a height drive of the tamping unit as soon as enable conditions for lowering the tamping unit have taken place.

21. The method according to claim 18, which further comprises generating a warning signal shortly before the tamping unit is lowered.

22. The method according to claim 16, which further comprises activating the first lifting mode or the second lifting mode by means of an operating element.

23. The method according to claim 16, which further comprises recording a lifting force and/or a lifting duration acting on the track from the lifting and lining unit and automatically switching between the first and second lifting modes when a threshold value is reached.

24. The method according to claim 23, which further comprises comparing a recorded lifting force with a lifting force limit by means of a comparator, with an output of the comparator producing a selection signal when a predefined lifting force is reached such that the first lifting mode is activated when a lifting force measuring value is less than or equal to the lifting force limit, and the second lifting mode is activated when the lifting force limit is exceeded.

25. The method according to claim 16, which further comprises providing the control/regulating device with position data of the track for switching between the first and second lifting modes.

26. The method according to claim 16, wherein a sensor disposed on the tamping machine is used to recognize a start or an end of a turnout, and in that a corresponding signal is forwarded to the control/regulating device.

27. The method according to claim 16, which further comprises recording a lifting force and/or a lifting duration acting on the track from the lifting and lining unit and, from an additional lifting unit, and automatically switching between the first and second lifting modes when a threshold value is reached.

28. A tamping machine, comprising: a tamping unit;a lifting and lining unit;a measuring system with a measuring value transducer;a control/regulating device having at least two controllers including a first controller assigned to a first lifting mode for a standard operation, and a second controller assigned to a second lifting mode for turnouts; andthe tamping machine configured for carrying out the method according to claim 16.

29. The tamping machine according to claim 28, wherein: said first controller of said control/regulating device is a proportional controller; andsaid second controller is a proportional-derivative controller, a proportional integral controller, or a proportional-integral-derivative controller.

30. The tamping machine according to claim 29, wherein said second controller includes a parallel connection of a proportional element, an integral element, and a derivative element.

31. The tamping machine according to claim 28, further comprising a sensor, and/or a 2D laser scanner, and/or a 3D laser scanner for recognizing the turnouts.

32. The tamping machine according to claim 31, wherein said sensor is a camera.