快速货车动力学性能分析及参数优化
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摘要
铁路运输自19世纪初正式运营以来,一直以其运量大、速度快、安全、节能环保等优势作为人类最重要的交通运输方式,在世界各国的经济发展中发挥着重要的作用。目前,我国大量新建高速铁路,大力推进客运高速化,为货运快捷化创造条件的同时,也对货运列车的速度提出了更高的要求,以减少客货列车的速度差,充分利用高速线路的运输能力；另一方面为提供集装箱、汽车、行包快运、鲜活物品等高附加值货物快运服务,因而货运安全快捷化势在必行。本文基于此背景,开展快速货车动力学性能分析和参数优化研究。
在分析快速货车转向架和平车车体结构的基础上,简要阐述了车辆系统动力学建模和刚柔耦合多体系统理论基础；运用计算机辅助设计软件Pro/Engineer和有限元分析软件ANSYS,建立平车车体有限元模型,并进行模态分析和子结构分析；其次结合多体动力学软件SIMPACK,分别建立了车辆系统的多刚体和刚柔耦合的动力学仿真模型。
基于多刚体和刚柔耦合的动力学仿真模型,对车辆系统的动力学性能进行分析,讨论参数影响规律,优化转向架和车体参数。同时,对比分析多刚体和刚柔耦合动力学模型的仿真计算结果,探讨车体弹性变形对车辆动力学性能的影响程度。结果表明：优化选取的转向架悬挂参数和车体参数均能满足其动力学性能的要求,为研制快速货车转向架提供理论参考；考虑车体弹性,即车体的结构自振,对空车车辆系统横向和垂向振动响应有一定的影响,对重车车辆系统垂向振动响应有很大程度的影响;考虑车体弹性降低了临界速度,降幅不大,重车降幅略大于空车；对运行平稳性和动态曲线通过性能有不同程度的影响,对重车的影响大于空车。
Since its formal operation in the early 19th century, the railway transportation has always been the most important transportation mode and plays a quite important role in economic development across the globe based on its advantages, such as large traffic volume, rapid speed, great safety, energy-saving superiority and environmental protection. Currently, Chinese government has newly built a great number of high-speed railways, promoted high-speed passenger transport and created the conditions for the freight transport as well. In addition, higher demands has been put on the speed of freight train so as to reduce the velocity contrast of both passenger and freight trains and make full use of transportation capacity of high-speed railway; on the other hand, in order to provide high added-value freight transport service, such as container, cars, parcel transportation and livestock perishable, promoting safety and velocity for freight transport is imperative. Under the above-mentioned background, Dynamic Performance Analysis and Parameter Optimization of Rapid-speed Wagon was researched.
Based on the analysis of the structure of rapid speed freight bogie and flat car, the modeling theory of Vehicle System Dynamics and Rigid-Flexible coupling multibody system were briefly explained. The finite element model of flat car body was established by applying Pro/Engineer, ANSYS softwares,as the same time, the modal analysis and Substructure analysis were carried out. Secondly, a multi-body and Rigid-Flexible coupling dynamic simulation model is established by SIMPACK software.
Based on the multi-body and Rigid-Flexible coupling dynamic simulation model, the dynamic performance of vehicle system was analysed., the rules of parameters influence were discussed and the parameters of the bogie and car body were optimized.In addition, the calculation results of the Multi-body and Rigid-Flexible coupling dynamic simulation model were compared.The influence of car body elastic deformation on vehicle dynamic performance was discussed. The analysed result shows that the bogie suspension parameter and car body parameter upon optimized could all meet the dynamic performance and provide theoretical support for developing the rapid freight bogie; Considering the elastic body, as the structure of the body vibration, had certain influence on the horizontal and vertical vibration response of the empty car system and large influence on the Vertical response of the loaded car system;The body elastic had reduced the critical speed with slight drop, and the loaded car decreased larger than the empty car; running stability and dynamic curve negotiation were under influence of different degree, but much greater on loaded car than on empty car.
在分析快速货车转向架和平车车体结构的基础上,简要阐述了车辆系统动力学建模和刚柔耦合多体系统理论基础；运用计算机辅助设计软件Pro/Engineer和有限元分析软件ANSYS,建立平车车体有限元模型,并进行模态分析和子结构分析；其次结合多体动力学软件SIMPACK,分别建立了车辆系统的多刚体和刚柔耦合的动力学仿真模型。
基于多刚体和刚柔耦合的动力学仿真模型,对车辆系统的动力学性能进行分析,讨论参数影响规律,优化转向架和车体参数。同时,对比分析多刚体和刚柔耦合动力学模型的仿真计算结果,探讨车体弹性变形对车辆动力学性能的影响程度。结果表明：优化选取的转向架悬挂参数和车体参数均能满足其动力学性能的要求,为研制快速货车转向架提供理论参考；考虑车体弹性,即车体的结构自振,对空车车辆系统横向和垂向振动响应有一定的影响,对重车车辆系统垂向振动响应有很大程度的影响;考虑车体弹性降低了临界速度,降幅不大,重车降幅略大于空车；对运行平稳性和动态曲线通过性能有不同程度的影响,对重车的影响大于空车。
Since its formal operation in the early 19th century, the railway transportation has always been the most important transportation mode and plays a quite important role in economic development across the globe based on its advantages, such as large traffic volume, rapid speed, great safety, energy-saving superiority and environmental protection. Currently, Chinese government has newly built a great number of high-speed railways, promoted high-speed passenger transport and created the conditions for the freight transport as well. In addition, higher demands has been put on the speed of freight train so as to reduce the velocity contrast of both passenger and freight trains and make full use of transportation capacity of high-speed railway; on the other hand, in order to provide high added-value freight transport service, such as container, cars, parcel transportation and livestock perishable, promoting safety and velocity for freight transport is imperative. Under the above-mentioned background, Dynamic Performance Analysis and Parameter Optimization of Rapid-speed Wagon was researched.
Based on the analysis of the structure of rapid speed freight bogie and flat car, the modeling theory of Vehicle System Dynamics and Rigid-Flexible coupling multibody system were briefly explained. The finite element model of flat car body was established by applying Pro/Engineer, ANSYS softwares,as the same time, the modal analysis and Substructure analysis were carried out. Secondly, a multi-body and Rigid-Flexible coupling dynamic simulation model is established by SIMPACK software.
Based on the multi-body and Rigid-Flexible coupling dynamic simulation model, the dynamic performance of vehicle system was analysed., the rules of parameters influence were discussed and the parameters of the bogie and car body were optimized.In addition, the calculation results of the Multi-body and Rigid-Flexible coupling dynamic simulation model were compared.The influence of car body elastic deformation on vehicle dynamic performance was discussed. The analysed result shows that the bogie suspension parameter and car body parameter upon optimized could all meet the dynamic performance and provide theoretical support for developing the rapid freight bogie; Considering the elastic body, as the structure of the body vibration, had certain influence on the horizontal and vertical vibration response of the empty car system and large influence on the Vertical response of the loaded car system;The body elastic had reduced the critical speed with slight drop, and the loaded car decreased larger than the empty car; running stability and dynamic curve negotiation were under influence of different degree, but much greater on loaded car than on empty car.
引文
[1]铁道部.中长期铁路网规划.2008.
[2]Gao Hao, Dai Huan-yun. High Frequency Vibration Analysis of Container Flat Wagon Base on Rigid-Flexible System. ICCES08,423(1):1-5.
[3]程海涛,王成国,钱立新.考虑车体柔性的货车动力学仿真[J].铁道学报.2000,22(6):40-45.
[4]程海涛.长大货物列车制动动力学及车辆柔性动力学研究.铁道部科学研究院：博士学位论文.1999.
[5]王福田主编.车辆系统动力学中国铁道出版社,1995.
[6]A.Striberskya, F.Mosera, W.Rulkab. Structural dynamics and ride comfort of a rail vehicle system:Advances in Engineering Software.2002, (33):541-552.
[7]Diana, etc. The development of a numerical model for railway vehicles comfort assessment through comparison with experimental measurements, Vehicle System Dynamics.2002,38(3):165-183.
[8]张卫华,翟婉明.第17届国际车辆系统动力学会议简介,国外铁道车辆2002,39(1)：6-9.
[9]翟婉明等,第15届车辆系统动力学学术会议交流综述,国外铁道车辆1998,(1).
[10]C.Esveld.高速铁路车辆轨道相互作用研究.铁道勘测与设计,2004.2.
[11]洪嘉振,蒋丽忠.柔性多体系统刚-柔耦合动力学.力学进展.2001,30(1):15-20.
[12]堵云竹.复杂机械系统的多体动力学参数化建模技术研究.华中科技大学硕士论文.2006.
[13]洪嘉振等.多体系统动力学理论、计算方法和应用.上海交通大学出版社,1992.
[14]洪嘉振、贾书惠.多体系统动力学与控制.北京理工大学出版社,1996.
[15]堵云竹.复杂机械系统的多体动力学参数化建模技术研究.华中科技大学硕士论文.2006.
[16]洪嘉振.计算多体系统动力学[M].北京：高等教育出版社.1999
[17]L.J.Howell. Power spectral density analysis of vehicle vibration using the NASTRAN computer program[J]. SAE Tran. V83,Section 2,1974,1417-1424.
[18]G. Dinana, F.Cheli, S.Bruni and A.Collina. Dynamic interaction between rail vehicles and track for high speed train[J]. Vehicle system dynamics supplement.24(1995),15-30
[19]Netter.H. New aspects of contact modeling and validation within multibody system simulation of railway vehicle. Vehicle system dynamics(supplement).1998.
[20]Y.Suzuki and K.Akutsu. Vibration analysis on truck frame of railway vehicle considering flexible rigidity[J]. Transactions of the Japan Society of Mechanical Engineers, Part C. V63, n611,1997,2221-2228.
[21]Pellef.Carlbom. Combining MBS with FEM for Rail Vehicle Dynamics Analysis. Multibody system dynamics.6:291-300,2001.
[22]曾京,罗仁.考虑车体弹性效应的铁道客车系统振动分析[J].铁道学报.2007,29(6)：19-25.
[23]邬平波,薛世海,杨晨辉.基于弹性车体模型的高速客车动态响应[J].交通运输工程学报.2005,5(2)：5-8.
[24]缪炳荣.基于多体动力学和有限元法的机车车体结构疲劳仿真研究.西南交通大学.博士论文.2003.
[25]Guyan. R.J. Reduction of stiffness and mass matrices[J]. AIAA Journal.1965, 3(15):56-75.
[26]尚晓江等编著.ANSYS结构有限元高级分析方法与范例应用[M]北京中国水利水利出版社.2005.
[27]倪振华.振动力学[M].西安交通大学出版社.1989,430-437.
[28]张彩霞,万朝燕,谢素明.基于子结构技术的货车车体有限元分析铁道车辆2009,1(47)：11-14..
[29]殷学纲等.结构振动分析的子结构方法[M].北京：中国铁道出版社.1991,200-208
[30]朱伯芳.有限单元法原理与应用[M].北京中国水利水电出版社.1998
[31]马少坤,于淼,崔皓东.子结构分析的基本原理和ANSYS软件的子结构分析方法[J].广西大学学报.2004,2(29)：150-153.
[32]ANSYS分析手册.ANSYS Ltd.2002.
[33]罗赞.机车驱动装置悬挂结构及参数的研究.西南交通大学博士论文.2005.
[34]于明,徐世峰,谢素明,杨爱国.160km/h高速货车转向架的研制.铁道车辆2006,44(7):8-11.
[35]李带,傅茂海,黄运华,卜继玲.快速货车转向架的发展及其模式研究.货车学术研讨会论文集,2006.
[36]缪炳荣,方向华,傅秀通.SIMPACK动力学分析基础教程.成都：西南交通大学出版社,2008.3.
[37]严隽耄,傅茂海.车辆工程.第3版.北京：中国铁道出版社,2007.8.
[38]缪炳荣,方向华,傅秀通.SIMPACK动力学分析基础教程.成都：西南交通大学出版社,2008.3.
[39]贺启庸,倪纯双,王卫东.多体系统动力学与车辆动力学.铁道车辆.1995,33(1):38-42.
[40]卜继玲,刘友梅,李芾.机车系统动力学仿真模型研究.机车电传动.2004(4):3-6.
[41]Ahmed.A.Shabana. Dynamics of Multibody Systems[M].Cambridge university press. 2005.
[42]蒋丽忠,罗小勇等.柔性多体系统中的刚-柔耦合动力学[J].长沙铁道学院学报2001,3:29-33.
[43]陆佑方.柔性多体系统动力学[M].高等教育出版社.1993.
[44]SIMPACK用户手册.
[45]缪炳荣,肖守讷,金鼎昌.应用SIMPACK对复杂机车多体系统建模与分析方法的研究[J].机械科学与技术.2006,7(25):813-816.
[46]王福天.车辆系统动力学.北京：中国铁道出版社.1994.
[47]翟婉明著.车辆-轨道耦合动力学[M].第三版.北京.科学出版社.2007.
[48]R. V. Dukkipati and J. R. Amyot.Computer-Aided Simulation in Railway Dynamics.Marcel Dukker Inc,1988.
[49]王志春.低磨耗高速客车径向转向架优化研究.西南交通大学硕士研究生学位论文,2002年.
[50]许金国.快速货车转向架关键技术研究.西南交通大学硕士研究生学位论文,2008年.
[51]池茂儒.铁道车辆振动响应特性[J].交通运输工程学报.2007,7(5):6-11
[52]GB-50090-2006.铁路线路设计规范.北京：中国计划出版社,2006.
[2]Gao Hao, Dai Huan-yun. High Frequency Vibration Analysis of Container Flat Wagon Base on Rigid-Flexible System. ICCES08,423(1):1-5.
[3]程海涛,王成国,钱立新.考虑车体柔性的货车动力学仿真[J].铁道学报.2000,22(6):40-45.
[4]程海涛.长大货物列车制动动力学及车辆柔性动力学研究.铁道部科学研究院：博士学位论文.1999.
[5]王福田主编.车辆系统动力学中国铁道出版社,1995.
[6]A.Striberskya, F.Mosera, W.Rulkab. Structural dynamics and ride comfort of a rail vehicle system:Advances in Engineering Software.2002, (33):541-552.
[7]Diana, etc. The development of a numerical model for railway vehicles comfort assessment through comparison with experimental measurements, Vehicle System Dynamics.2002,38(3):165-183.
[8]张卫华,翟婉明.第17届国际车辆系统动力学会议简介,国外铁道车辆2002,39(1)：6-9.
[9]翟婉明等,第15届车辆系统动力学学术会议交流综述,国外铁道车辆1998,(1).
[10]C.Esveld.高速铁路车辆轨道相互作用研究.铁道勘测与设计,2004.2.
[11]洪嘉振,蒋丽忠.柔性多体系统刚-柔耦合动力学.力学进展.2001,30(1):15-20.
[12]堵云竹.复杂机械系统的多体动力学参数化建模技术研究.华中科技大学硕士论文.2006.
[13]洪嘉振等.多体系统动力学理论、计算方法和应用.上海交通大学出版社,1992.
[14]洪嘉振、贾书惠.多体系统动力学与控制.北京理工大学出版社,1996.
[15]堵云竹.复杂机械系统的多体动力学参数化建模技术研究.华中科技大学硕士论文.2006.
[16]洪嘉振.计算多体系统动力学[M].北京：高等教育出版社.1999
[17]L.J.Howell. Power spectral density analysis of vehicle vibration using the NASTRAN computer program[J]. SAE Tran. V83,Section 2,1974,1417-1424.
[18]G. Dinana, F.Cheli, S.Bruni and A.Collina. Dynamic interaction between rail vehicles and track for high speed train[J]. Vehicle system dynamics supplement.24(1995),15-30
[19]Netter.H. New aspects of contact modeling and validation within multibody system simulation of railway vehicle. Vehicle system dynamics(supplement).1998.
[20]Y.Suzuki and K.Akutsu. Vibration analysis on truck frame of railway vehicle considering flexible rigidity[J]. Transactions of the Japan Society of Mechanical Engineers, Part C. V63, n611,1997,2221-2228.
[21]Pellef.Carlbom. Combining MBS with FEM for Rail Vehicle Dynamics Analysis. Multibody system dynamics.6:291-300,2001.
[22]曾京,罗仁.考虑车体弹性效应的铁道客车系统振动分析[J].铁道学报.2007,29(6)：19-25.
[23]邬平波,薛世海,杨晨辉.基于弹性车体模型的高速客车动态响应[J].交通运输工程学报.2005,5(2)：5-8.
[24]缪炳荣.基于多体动力学和有限元法的机车车体结构疲劳仿真研究.西南交通大学.博士论文.2003.
[25]Guyan. R.J. Reduction of stiffness and mass matrices[J]. AIAA Journal.1965, 3(15):56-75.
[26]尚晓江等编著.ANSYS结构有限元高级分析方法与范例应用[M]北京中国水利水利出版社.2005.
[27]倪振华.振动力学[M].西安交通大学出版社.1989,430-437.
[28]张彩霞,万朝燕,谢素明.基于子结构技术的货车车体有限元分析铁道车辆2009,1(47)：11-14..
[29]殷学纲等.结构振动分析的子结构方法[M].北京：中国铁道出版社.1991,200-208
[30]朱伯芳.有限单元法原理与应用[M].北京中国水利水电出版社.1998
[31]马少坤,于淼,崔皓东.子结构分析的基本原理和ANSYS软件的子结构分析方法[J].广西大学学报.2004,2(29)：150-153.
[32]ANSYS分析手册.ANSYS Ltd.2002.
[33]罗赞.机车驱动装置悬挂结构及参数的研究.西南交通大学博士论文.2005.
[34]于明,徐世峰,谢素明,杨爱国.160km/h高速货车转向架的研制.铁道车辆2006,44(7):8-11.
[35]李带,傅茂海,黄运华,卜继玲.快速货车转向架的发展及其模式研究.货车学术研讨会论文集,2006.
[36]缪炳荣,方向华,傅秀通.SIMPACK动力学分析基础教程.成都：西南交通大学出版社,2008.3.
[37]严隽耄,傅茂海.车辆工程.第3版.北京：中国铁道出版社,2007.8.
[38]缪炳荣,方向华,傅秀通.SIMPACK动力学分析基础教程.成都：西南交通大学出版社,2008.3.
[39]贺启庸,倪纯双,王卫东.多体系统动力学与车辆动力学.铁道车辆.1995,33(1):38-42.
[40]卜继玲,刘友梅,李芾.机车系统动力学仿真模型研究.机车电传动.2004(4):3-6.
[41]Ahmed.A.Shabana. Dynamics of Multibody Systems[M].Cambridge university press. 2005.
[42]蒋丽忠,罗小勇等.柔性多体系统中的刚-柔耦合动力学[J].长沙铁道学院学报2001,3:29-33.
[43]陆佑方.柔性多体系统动力学[M].高等教育出版社.1993.
[44]SIMPACK用户手册.
[45]缪炳荣,肖守讷,金鼎昌.应用SIMPACK对复杂机车多体系统建模与分析方法的研究[J].机械科学与技术.2006,7(25):813-816.
[46]王福天.车辆系统动力学.北京：中国铁道出版社.1994.
[47]翟婉明著.车辆-轨道耦合动力学[M].第三版.北京.科学出版社.2007.
[48]R. V. Dukkipati and J. R. Amyot.Computer-Aided Simulation in Railway Dynamics.Marcel Dukker Inc,1988.
[49]王志春.低磨耗高速客车径向转向架优化研究.西南交通大学硕士研究生学位论文,2002年.
[50]许金国.快速货车转向架关键技术研究.西南交通大学硕士研究生学位论文,2008年.
[51]池茂儒.铁道车辆振动响应特性[J].交通运输工程学报.2007,7(5):6-11
[52]GB-50090-2006.铁路线路设计规范.北京：中国计划出版社,2006.
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