摘  要

我国铁路运输迅速发展的同时，促进了列车提速和运载量的增加，进而导致了列车对线路上弯道处的钢轨损伤增大，磨损问题也更加严重。实践表明，对弯道处钢轨进行养护工作具有巨大的经济效益。已有的钢轨润滑装置以固定式为主，便携式的润滑装置大多依赖工人手动操作。因而，可拆卸式的自动润滑涂覆控制系统具有十分鲜明的研究意义。

本文将以自动润滑涂覆系统为平台，结合卫星信号定位原理，运用自动控制理论设计适合当前列车轨道养护工作的自动润滑涂覆系统及控制策略；结合具体装车实验，实现自动润滑涂覆控制系统及控制策略功能验证和参数测试；为轨道养护工作提供了一种高可靠性、低成本的解决方案。论文的主要研究内容如下：

（1）本文首先剖析了基于卫星信号的自动润滑涂覆控制系统的机械结构和控制原理，分析了系统的项目需求，对项目整体进行分析，设计了系统的组织架构，制定硬件和软件设计方案。

（2）详细分析了硬件平台的功能性需求，选取控制系统主控芯片STM32F103C8T6，完成最小系统电路设计；卫星信号采集模块由天线和多星定位板卡组成，提高了定位的精度。

（3）完成了电机驱动和串口通信驱动的编写，实现了电机控制和系统各模块的通信功能。利用了Qt 组件对上位机人机交互软件进行开发，完成了串口通信模块、主界面模块和卫星信号处理模块的分层设计，根据卫星信号航向角的变化判断弯道位置信息，制定了两种工作模式下的控制策略。

（4）搭建了系统测试平台，测试了系统的打点功能和自动涂覆功能。在对弯道进行三次人工打点后，辅以航向角修正弯道入口与出口点坐标，在存有准确弯道信息的情况下，系统能够准确判断在武昌-咸宁路段16个弯道的起始点和终止点，能够在距离弯道入口50m时作出预警并控制电机自动运行；电机两档出料速度为0.122cm/s和0.175cm/s，控制在0.120cm/s ~ 0.180cm/s之间，确保出料过程不会出现涂覆棒断裂。本控制系统能够将固体润滑剂准确涂覆在钢轨内侧面，实现了润滑剂量灵活调节。

关键词：卫星信号；弯道检测；固体润滑；钢轨涂覆；自动控制

Abstract

With the rapid development of railway transportation in my country, it has promoted the increase of train speed and capacity, which in turn led to increased damage to the rails at the bends on the line by trains, and more serious wear problems. Practice has shown that the maintenance of steel rails at bends has huge economic benefits. The existing rail lubrication devices are mainly fixed, and most of the detachable lubrication devices rely on manual operation by workers. Therefore, the detachable automatic lubrication coating control system has very clear research significance. This article will use the automatic lubrication coating system as a platform, combined with the principle of satellite signal positioning, and use automatic control theory to design an automatic lubrication coating system and control strategy suitable for the current train track maintenance work; combined with specific loading experiments to realize automatic lubrication coating control System and control strategy function verification and parameter testing; it provides a high-reliability and low-cost solution for track maintenance. The main research contents of the thesis are as follows: (1) This article first analyzes the mechanical structure and control principle of the automatic lubrication coating control system based on satellite signals, analyzes the project requirements of the system, analyzes the overall project, designs the system organization structure, and develops hardware and software design plans .

(2) The functional requirements of the hardware platform are analyzed in detail, and the main control chip STM32F103C8T6 of the control system is selected to complete the minimum system circuit design; the satellite signal acquisition module is composed of an antenna and a multi-satellite positioning board, which improves the accuracy of positioning.

(3) The motor driver and serial port communication driver have been written, and the motor control and communication functions of each module of the system have been realized. The Qt component is used to develop the human-computer interaction software of the host computer, and the hierarchical design of the serial port communication module, the main interface module and the satellite signal processing module is completed. The curve position information is judged according to the change of the satellite signal heading angle, and two types are developed. Control strategy in working mode.

(4) A system test platform was built to test the system's dotting function and automatic coating function. After three times of manual scoring of the curve, the coordinates of the entrance and exit points of the curve are corrected with the heading angle. With accurate curve information, the system can accurately determine the starting point of 16 curves in the Wuchang-Xianning section And the end point, it can give an early warning and control the motor to run automatically when the distance from the entrance of the curve is 50m; the two-speed output speed of the motor is 0.122cm/s and 0.175cm/s, and the control is between 0.120cm/s ~ 0.180cm/s , To ensure that the coating rod will not break during the discharge process. The control system can accurately coat the solid lubricant on the inner surface of the steel rail, and realize the flexible adjustment of the lubricant amount.

Keywords: Satellite signal,curve detection, solid lubrication, rail coating,automatic control