高速列车动力学参数影响度的研究与应用
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摘要
近半个世纪高速铁路理论、技术和经验的累积,不断创造着高速轮轨交通奇迹。世界高速列车发展循序渐进,具有较强技术继承性和延续性,因服役需求、环境和技术体系的差异形成了多派系车型技术。以高速转向架设计为例,不同速度等级结构特点不同,速度级越高,结构越简洁,各部件功能分工越明确,模块化设计越体现；结构决定功能,同速度级下转向架设计理念／方法具有共性,速度越高,转向架设计共识越多。结构选型越来越趋同的转向架,其性能进一步提升则必须依赖于参数,参数决定性能,悬挂系统刚度与阻尼的搭配和结构属性参数的确定,决定着转向架、车体以及列车振动特性。车辆设计性能的充分保证,除了设计值优选,还涉及服役中参数性能退化的控制,其中部件状态监控、部件功能维修是有效有段。参数范围决定着性能的变化范围,掌握参数影响特性和服役变化特性,并加以利用,是控制车辆动力学性能域的根本。
围绕国家重点基础研究发展计划(973计划)——高速列车安全服役关键基础问题研究(2007CB714700)的子课题“高速轮轨系统的动态行为与性能演变规律”和“十
五”国家科技支撑计划课题——中国高速列车关键技术研究及装备研制(2009BAG12A00)的子课题“高速列车共性基础及系统集成技术”和“高速转向架技术’等项目而开展研究,主要开展的研究工作如下：
(1)对世界高速列车、高速转向架发展概况分别以不同国别和不同速度等级划分进行了描述,提取了高速转向架的设计共识；结合国内外高速列车运营维护、维修等现状,明确了车辆参数完备的设计特性和服役特性研究的意义。基于国内外控制车辆横、垂、纵三向运动的动力学参数的研究现状以及车辆服役过程中的参数偏差研究现状,确定了本文研究的基本框架、方向及内容。
(2)基于多体动力学理论,建立了车轮、车辆和列车模型,明确了三大动力学性能和车辆振动频率的评价指标；将参数分类为结构参数和悬挂参数,利用正交试验设计法和全面试验法研究其对车辆直线和曲线动力学性能的影响。
(3)利用敏感性分析、影响曲线拟合以及基于影响度的参数域确定方法,进行参数灵敏度对比。对于车辆稳定性,首先进行单个结构和悬挂参数的影响度分析,并结合部件的极端故障变化影响特性,提取对非线性临界速度的显著影响因子,如簧上质量Mc、等效锥度λ、抗蛇行阻尼Csx、横减阻尼Csy和一系纵向定位刚度Kpx；再对显著影响参数进行两结构参数(Mc-λe)、三悬挂参数(Cc-Csy-Kpx)、结构和悬挂参数组合(Mc-Csx-Kpx和λe-Kpx-Kpy)同时变化的影响度分析。并发现,多参数影响与单参数影响存在一定差别,既可加强稳定性,亦有减弱的趋势。利用二维曲线图表、三维域度分析方法,以车辆安全域为目标,直观地提出参数域选择以及进一步改进的方向。
(4)将参数对稳定性的影响度研究思路,应用于参数对车辆安全性、平稳性以及振动频率特性的影响度分析中。车辆安全性和平稳性结合车辆直线和曲线通过性能共同描述,并研究了两个速度等级300km/h和350km/h的参数影响。簧下质量Mw,与Mc、Csx和k一并对减载率、脱轨系数和轮轴横向力等安全性指标的影响显著；Mc、Csc和Kpx是影响车辆横向平稳性的重要参数,而对垂向平稳性而言,空簧垂向刚度和阻尼是重要因子。结构和悬挂参数间交互作用的影响亦不容忽视。性能评价指标不再单一,这为参数域的确定增添了更多的约束条件。
(5)对比分析了五种轨道不平顺下车辆位移和加速度的响应特性,提出对线路服役状态控制的必要性。车辆振动频率主要针对蛇行频率、悬挂自振频率而展开,将速度参数亦引为主要分析对象,特别对蛇行频率特性进行了仿真和台架试验研究。
(6)研究了车辆参数设计域、服役域和维修域变化特性,调研了国内高速转向架检修特点和服役故障分布特点,结合参数对车辆性能的影响度研究结论,对车辆结构和悬挂参数的状态及其对应的车辆状态进行了讨论。
(7)基于结构和悬挂参数对稳定性的影响度研究,提出了车辆稳定性的“开环”控制思路,清晰地描述了车辆稳定性的设计理念；再结合车辆的服役特性,引入“闭环”控制理念,添加了对服役失稳现象的快速调整策略。国内CRH系列不同速度级车型的升级设计实例充分验证了稳定性控制策略的正确性和工程意义。
(8)基于结构和悬挂参数对平稳性的影响度研究,提出了车辆平稳性的“开环”控制思路,从“输入信号”开始控制,并对“系统特征”传递路径(中间过程)进行控制,以此保证最后优良的“输出结果”。平稳性控制思路同样亦在CRH系列不同速度级车型的升级设计实例中得到验证。
Based on accumulations of theory, technology and experiences of high-speed railway for nearly half a century, miracles of high-speed railway have been happening. High-speed trains are developed step by step, with strong technical inheritance and continuity. There are some technical architectures for high-speed trains in the world, due to different service demand, running environment and technology systems. Take a bogie design for example, structural characteristics at different speed grade bogie are not the same. For the higher speed bogie, it's more simple and contains components with clear division of work and modular designs. Systemic structure determines its function. Bogie design concepts or methods at the same speed grade have a lot in common. The higher the speed is, the more the common design views are. Further performance improvements of high-speed bogie with convergence structural characters must depend on its parameters. Systemic parameters values determine its performance. Vibration characteristics of bogie, carbody or trains are decided by the coordination between stiffness/damping parameters of suspension system and structural properties. Except for the preferred design values, performances are supported by limiting parameter performance degradation in service. Effective approaches are condition monitoring and maintenance. Range of parameters affects performance. Mastering effects of parameters and features of their deterioration in service, are basic terms to control vehicle dynamics performance domains.
Funded by the subproject of National Basic Research Program of China(973)-Key Basic Problems Research of High-speed Train for Safety Operation (2007CB714700),'High-speed wheel/rail dynamic behavior and its performance evolvement rule', and the subprojects of National Science and Technology Pillar Program in the11th Five-year Plan Period-Key Technology Research and Equipment Development of High-speed Train(2009BAG12A00),'High-speed train generality foundation and its system integration technology'&'High-speed bogie technology', research works in this paper can be summarized as follows:
(1) Developments of high-speed trains and bogies around the world are described according to different nationality and speed grade. Design consensus of high-speed bogie are extracted. Combining with practical operation and maintenance of high-speed trains, the significances to study features of vehicle complete parameters in the design and service period can be shown. In view of current researches related to dynamics parameters to control lateral, vertical, longitudinal movements of a high-speed vehicle and parameter performance degradation happened in the operation, skeleton of this study and main contents are determined.
(2) Models for a wheel, a vehicle, and a train are built on the basis of the multi-body system dynamics theory. Indexes of vehicle three major dynamics performances and vehicle vibration frequency are pointed out. Vehicle parameters are classified as structural parameters and suspension parameters. Orthogonal experiment design method and the comprehensive experimental method are both used to study the effects on performances of the vehicle passing through the straight and curved tracks.
(3) Sensitivity of parameters can be analyzed by sensitivity analysis, curve fitting and the method to determine parameter domain based on impacts. Effect of a single parameter is discussed firstly, combining with influences of extreme fault conditions on stability. And then, remarkable impact factors of nonlinear critical speed are found, such as sprung mass Mc, equivalent conicity λe.damping of anti-hunting damper Csx, damping of secondary lateral damper Csy, longitudinal stiffness of primary swing arm Kpx. Influences of multi-parameters combination, such as two structural parameters (Mc-λe), three suspension para.mcters(Csx-Csy-Kpx), and combination of structural and suspension parameters(Mc-Csx-Kpx&λe-Kpx-Kpy). are studied. Vehicle stability can either be enhanced or weakened by the simultaneous changing of multi-parameters, which is different from the influence of single parameter. Different expression methods are used to show the right range of parameters and the way for further improvement, such as two-dimension figures&tables and three-dimension domain method.
(4) Research ideas for stability are also applied to the study of parameters influences on vehicle safety, riding comfort and vibration frequency characteristics. Performances on straight and curved tracks are both simulated under two speed grades300km/h&350km/h. Unsprung mass Mw, along with the factors Mc, Csx and Kpx, affects safety indexes observably, which include wheel load reduction ratio, derailment coefficient and wheeset lateral force. Vehicle lateral Sperling index is related to parameters Mc, Csx and Kpx, while for vertical Sperling index, vertical stiffness and damping of air spring device are important. The interactions among structural and suspension parameters on vehicle safety and comfort can not be ignored. There are multi-indexes to evaluate vehicle safety and comfort, which can be considered as more constraints conditions for the determining of parameter range.
(5) Five types of track random irregularities are introduced to analyze vehicle displacement and acceleration responses. It is necessary to control track regularity status in operation. Vehicle vibration frequency involves hunting frequency and suspension self-vibration frequency in this paper. Running speed is taken as one of the analysis objects and there are in-depth simulations and bench test studies on hunting frequency.
(6) Actual design range of vehicle parameters, operating range and maintainance range are all discussed. Features of high-speed bogie maintenance and fault distribution in service are investigated. Combined with the conclusion about the effects, safety status of a vehicle and status of its structural and suspension parameters are discussed.
(7) Based on effects of parameters on stability, a control idea is put forward, which is an open-loop control strategy and describes the design concept of vehicle stability clearly. Coupled with vehicle characteristics in service, a closed-loop control concept is introduced by adding some rapid adjustment strategies for unstable phenomenon in operation. Take speed-upgraded vehicles of CRH series as examples, validity of design improvements, which are conducted by the control strategy for stability, can be fully demonstrated by bench test and field test, so does the engineering significance of strategy.
(8) A control idea for vehicle comfort is carried out on account of the effects. It is also an open-loop control method, which starts from the control of'inputs', and then controls transfer path of'system features'(intermediate processes), so that the good'output'can be gained. The control strategy is also verified by the speed-upgraded vehicles.
围绕国家重点基础研究发展计划(973计划)——高速列车安全服役关键基础问题研究(2007CB714700)的子课题“高速轮轨系统的动态行为与性能演变规律”和“十
五”国家科技支撑计划课题——中国高速列车关键技术研究及装备研制(2009BAG12A00)的子课题“高速列车共性基础及系统集成技术”和“高速转向架技术’等项目而开展研究,主要开展的研究工作如下：
(1)对世界高速列车、高速转向架发展概况分别以不同国别和不同速度等级划分进行了描述,提取了高速转向架的设计共识；结合国内外高速列车运营维护、维修等现状,明确了车辆参数完备的设计特性和服役特性研究的意义。基于国内外控制车辆横、垂、纵三向运动的动力学参数的研究现状以及车辆服役过程中的参数偏差研究现状,确定了本文研究的基本框架、方向及内容。
(2)基于多体动力学理论,建立了车轮、车辆和列车模型,明确了三大动力学性能和车辆振动频率的评价指标；将参数分类为结构参数和悬挂参数,利用正交试验设计法和全面试验法研究其对车辆直线和曲线动力学性能的影响。
(3)利用敏感性分析、影响曲线拟合以及基于影响度的参数域确定方法,进行参数灵敏度对比。对于车辆稳定性,首先进行单个结构和悬挂参数的影响度分析,并结合部件的极端故障变化影响特性,提取对非线性临界速度的显著影响因子,如簧上质量Mc、等效锥度λ、抗蛇行阻尼Csx、横减阻尼Csy和一系纵向定位刚度Kpx；再对显著影响参数进行两结构参数(Mc-λe)、三悬挂参数(Cc-Csy-Kpx)、结构和悬挂参数组合(Mc-Csx-Kpx和λe-Kpx-Kpy)同时变化的影响度分析。并发现,多参数影响与单参数影响存在一定差别,既可加强稳定性,亦有减弱的趋势。利用二维曲线图表、三维域度分析方法,以车辆安全域为目标,直观地提出参数域选择以及进一步改进的方向。
(4)将参数对稳定性的影响度研究思路,应用于参数对车辆安全性、平稳性以及振动频率特性的影响度分析中。车辆安全性和平稳性结合车辆直线和曲线通过性能共同描述,并研究了两个速度等级300km/h和350km/h的参数影响。簧下质量Mw,与Mc、Csx和k一并对减载率、脱轨系数和轮轴横向力等安全性指标的影响显著；Mc、Csc和Kpx是影响车辆横向平稳性的重要参数,而对垂向平稳性而言,空簧垂向刚度和阻尼是重要因子。结构和悬挂参数间交互作用的影响亦不容忽视。性能评价指标不再单一,这为参数域的确定增添了更多的约束条件。
(5)对比分析了五种轨道不平顺下车辆位移和加速度的响应特性,提出对线路服役状态控制的必要性。车辆振动频率主要针对蛇行频率、悬挂自振频率而展开,将速度参数亦引为主要分析对象,特别对蛇行频率特性进行了仿真和台架试验研究。
(6)研究了车辆参数设计域、服役域和维修域变化特性,调研了国内高速转向架检修特点和服役故障分布特点,结合参数对车辆性能的影响度研究结论,对车辆结构和悬挂参数的状态及其对应的车辆状态进行了讨论。
(7)基于结构和悬挂参数对稳定性的影响度研究,提出了车辆稳定性的“开环”控制思路,清晰地描述了车辆稳定性的设计理念；再结合车辆的服役特性,引入“闭环”控制理念,添加了对服役失稳现象的快速调整策略。国内CRH系列不同速度级车型的升级设计实例充分验证了稳定性控制策略的正确性和工程意义。
(8)基于结构和悬挂参数对平稳性的影响度研究,提出了车辆平稳性的“开环”控制思路,从“输入信号”开始控制,并对“系统特征”传递路径(中间过程)进行控制,以此保证最后优良的“输出结果”。平稳性控制思路同样亦在CRH系列不同速度级车型的升级设计实例中得到验证。
Based on accumulations of theory, technology and experiences of high-speed railway for nearly half a century, miracles of high-speed railway have been happening. High-speed trains are developed step by step, with strong technical inheritance and continuity. There are some technical architectures for high-speed trains in the world, due to different service demand, running environment and technology systems. Take a bogie design for example, structural characteristics at different speed grade bogie are not the same. For the higher speed bogie, it's more simple and contains components with clear division of work and modular designs. Systemic structure determines its function. Bogie design concepts or methods at the same speed grade have a lot in common. The higher the speed is, the more the common design views are. Further performance improvements of high-speed bogie with convergence structural characters must depend on its parameters. Systemic parameters values determine its performance. Vibration characteristics of bogie, carbody or trains are decided by the coordination between stiffness/damping parameters of suspension system and structural properties. Except for the preferred design values, performances are supported by limiting parameter performance degradation in service. Effective approaches are condition monitoring and maintenance. Range of parameters affects performance. Mastering effects of parameters and features of their deterioration in service, are basic terms to control vehicle dynamics performance domains.
Funded by the subproject of National Basic Research Program of China(973)-Key Basic Problems Research of High-speed Train for Safety Operation (2007CB714700),'High-speed wheel/rail dynamic behavior and its performance evolvement rule', and the subprojects of National Science and Technology Pillar Program in the11th Five-year Plan Period-Key Technology Research and Equipment Development of High-speed Train(2009BAG12A00),'High-speed train generality foundation and its system integration technology'&'High-speed bogie technology', research works in this paper can be summarized as follows:
(1) Developments of high-speed trains and bogies around the world are described according to different nationality and speed grade. Design consensus of high-speed bogie are extracted. Combining with practical operation and maintenance of high-speed trains, the significances to study features of vehicle complete parameters in the design and service period can be shown. In view of current researches related to dynamics parameters to control lateral, vertical, longitudinal movements of a high-speed vehicle and parameter performance degradation happened in the operation, skeleton of this study and main contents are determined.
(2) Models for a wheel, a vehicle, and a train are built on the basis of the multi-body system dynamics theory. Indexes of vehicle three major dynamics performances and vehicle vibration frequency are pointed out. Vehicle parameters are classified as structural parameters and suspension parameters. Orthogonal experiment design method and the comprehensive experimental method are both used to study the effects on performances of the vehicle passing through the straight and curved tracks.
(3) Sensitivity of parameters can be analyzed by sensitivity analysis, curve fitting and the method to determine parameter domain based on impacts. Effect of a single parameter is discussed firstly, combining with influences of extreme fault conditions on stability. And then, remarkable impact factors of nonlinear critical speed are found, such as sprung mass Mc, equivalent conicity λe.damping of anti-hunting damper Csx, damping of secondary lateral damper Csy, longitudinal stiffness of primary swing arm Kpx. Influences of multi-parameters combination, such as two structural parameters (Mc-λe), three suspension para.mcters(Csx-Csy-Kpx), and combination of structural and suspension parameters(Mc-Csx-Kpx&λe-Kpx-Kpy). are studied. Vehicle stability can either be enhanced or weakened by the simultaneous changing of multi-parameters, which is different from the influence of single parameter. Different expression methods are used to show the right range of parameters and the way for further improvement, such as two-dimension figures&tables and three-dimension domain method.
(4) Research ideas for stability are also applied to the study of parameters influences on vehicle safety, riding comfort and vibration frequency characteristics. Performances on straight and curved tracks are both simulated under two speed grades300km/h&350km/h. Unsprung mass Mw, along with the factors Mc, Csx and Kpx, affects safety indexes observably, which include wheel load reduction ratio, derailment coefficient and wheeset lateral force. Vehicle lateral Sperling index is related to parameters Mc, Csx and Kpx, while for vertical Sperling index, vertical stiffness and damping of air spring device are important. The interactions among structural and suspension parameters on vehicle safety and comfort can not be ignored. There are multi-indexes to evaluate vehicle safety and comfort, which can be considered as more constraints conditions for the determining of parameter range.
(5) Five types of track random irregularities are introduced to analyze vehicle displacement and acceleration responses. It is necessary to control track regularity status in operation. Vehicle vibration frequency involves hunting frequency and suspension self-vibration frequency in this paper. Running speed is taken as one of the analysis objects and there are in-depth simulations and bench test studies on hunting frequency.
(6) Actual design range of vehicle parameters, operating range and maintainance range are all discussed. Features of high-speed bogie maintenance and fault distribution in service are investigated. Combined with the conclusion about the effects, safety status of a vehicle and status of its structural and suspension parameters are discussed.
(7) Based on effects of parameters on stability, a control idea is put forward, which is an open-loop control strategy and describes the design concept of vehicle stability clearly. Coupled with vehicle characteristics in service, a closed-loop control concept is introduced by adding some rapid adjustment strategies for unstable phenomenon in operation. Take speed-upgraded vehicles of CRH series as examples, validity of design improvements, which are conducted by the control strategy for stability, can be fully demonstrated by bench test and field test, so does the engineering significance of strategy.
(8) A control idea for vehicle comfort is carried out on account of the effects. It is also an open-loop control method, which starts from the control of'inputs', and then controls transfer path of'system features'(intermediate processes), so that the good'output'can be gained. The control strategy is also verified by the speed-upgraded vehicles.
引文
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