基于高速列车稳定性和振动特性的半主动悬挂系统研究
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摘要
半主动悬挂技术是隔离车体振动,改善车辆运行平稳性的有效方法。近年中国高速列车运行速度提升至了300km/h以上。在此区间车辆及其运行条件都发生了巨大变化,轨道激扰频率增加,车轮磨耗加剧,车辆稳定问题凸显。这些都给半主动悬挂技术在高速列车上的应用带来了新的挑战。因此针对高速列车的使用特点,开展高速列车半主动悬挂技术研究具有很强的理论意义和技术需求。基于此本文对高速列车半主动悬挂技术进行深入研究,主要开展了以下工作：
(1)分别建立了简化的3自由度车辆系统模型和50自由度车辆系统模型,50自由度模型为纵横垂三向运动相耦合模型,并考虑了悬挂系统和轮轨接触关系的非线性特性。
(2)建立了半主动悬挂系统模型,系统模型主要包括半主动控制器模型,传感装置模型和半主动减振器模型。其中对常用的比例溢流阀式半主动减振器和磁流变液半主动减振器进行了系统分析和详细建模。提出了磁流变减振器的连续粘弹塑性物理模型,给出了模型参数的直接求解方法。另外还利用滞环分离法建立了磁流变减振器的逆模型。
(3)利用所构建的高速列车模型和半主动悬挂系统模型,研究了半主动高速列车的稳定性。基于非线性振动分叉理论研究了低锥度列车、高锥度列车、低锥度磨耗状态列车和高锥度磨耗状态列车的蛇行运动分叉特征,分析了半主动悬挂系统与高速列车蛇行运动的相互关系,揭示了半主动悬挂列车和被动悬挂列车在非线性稳定性方面的内在差异。
(4)研究了半主动减振方法的隔振特性,比例溢流阀式半主动悬挂系统和磁流变半主动悬挂系统的减振性能,在此基础上分析了半主动悬挂系统减振性能与线路条件,运行速度以及车辆类型的关系,给出了不同的使用条件下半主动悬挂系统的设计方法。
(5)设计了新型高速列车半主动悬挂系统,新型高速列车半主动悬挂系统由平稳性控制,稳定性控制和会车振动控制组成。新型半主动悬挂系统能够有效提高半主动悬挂车辆稳定性,能够根据运行工况对天棚阻尼进行最优调节,并对会车振动冲击有明显的抑制效果。
(6)基于半主动高速列车稳定性和半主动悬挂系统减振性能的研究成果,对高速列车使用中遇到的稳定性问题和低频振动问题进行分析。并通过仿真计算验证了所提出的新型高速列车半主动悬挂系统对蛇行失稳和车体低频晃动的控制效果。
The semi-active suspension system is effective method for isolating the carbody vibration and improving the ride performance. The development of the high-speed train technology promote the running speed to reach a higher range. The operating condition has great changes in this range, the increases of Track excitation frequency, the wheel wear intensifies, and the vehicle stability highlighted.These changes have brought a new challenge for the application of the semi-active suspension technology in the high-speed trains.Therefore, it is significant to carry out the research of semi-active suspension technology appled in the high speed train. An indenstiy reaserch of semi-active suspension is carried out in this thesis. The main researeh works of the thesis are as below:
1)3DOFs (degrees of freedom) vehicle systems model, and50DOF vehicle systems model is set up respectively. The longitudinal, lateral and vertical movement are coupled in the50DOF vehicle systems model. And the nonlinear characteristics of the suspension and wheel-rail are considered in the model.
2) The semi-active suspension system model is established, compresed of semi-active controller model, sensor model and semi-active damper model. The operating principle of semi-active damper with proportional relief valve is analyzed and modeled. Accrording to the test data, a viscoelastic plastic continuous physical model of the MR (magnetorheological) damper is proposed. The parameters solution method is given. The revese model of the MR damper is set up by using the method of separating the hysteresis function.
3) Using the model of high-speed trains and semi-active suspension system model, the stability of high-speed train equipted with the semi-active suspension is studied. Based on the nonlinear vibration bifurcation theory and the Poincare mapping, the bifurcation of high-speed train with the high and low equivalent concity thread is calculated. And then the interaction of semi-active suspension system and the hunting motion is analyzed. The difference between the passive suspension vehicle and semi-active vehicle is shown and explained from the viewpoint of energy theroy.
4) The isolation vibration characteristic of semi-active method is studied by using the1DOF and2DOF vibration systems. And then perfomence of semi-active suspension system with the the proportional relief valve type damper and the MR damper is investegted respectively. At last, the relationship between the performance of the semi-active suspension system and the operation condition, including the type of vehicle, running speed and the track excitation is analyzed.
5) A new semi-active suspension system solutions applied in the high-speed trains is proposed, it is composed of stability controller, comfort controller and train crossing vibration controller. The new semi-active suspension system can improve effectively the stability of vehicle quipted with the low concity thread in the wear stated, and shock the vibration produced by the train crossing pressure.
6) Based on the research result of the stability of semi-active high-speed trains and the isolation vibration performance of semi-active suspension, the hunting instability and the low frequency vibration of carbody is analyzed. The solution based on the new semi-active suspension is appled in the solution of those problems.
(1)分别建立了简化的3自由度车辆系统模型和50自由度车辆系统模型,50自由度模型为纵横垂三向运动相耦合模型,并考虑了悬挂系统和轮轨接触关系的非线性特性。
(2)建立了半主动悬挂系统模型,系统模型主要包括半主动控制器模型,传感装置模型和半主动减振器模型。其中对常用的比例溢流阀式半主动减振器和磁流变液半主动减振器进行了系统分析和详细建模。提出了磁流变减振器的连续粘弹塑性物理模型,给出了模型参数的直接求解方法。另外还利用滞环分离法建立了磁流变减振器的逆模型。
(3)利用所构建的高速列车模型和半主动悬挂系统模型,研究了半主动高速列车的稳定性。基于非线性振动分叉理论研究了低锥度列车、高锥度列车、低锥度磨耗状态列车和高锥度磨耗状态列车的蛇行运动分叉特征,分析了半主动悬挂系统与高速列车蛇行运动的相互关系,揭示了半主动悬挂列车和被动悬挂列车在非线性稳定性方面的内在差异。
(4)研究了半主动减振方法的隔振特性,比例溢流阀式半主动悬挂系统和磁流变半主动悬挂系统的减振性能,在此基础上分析了半主动悬挂系统减振性能与线路条件,运行速度以及车辆类型的关系,给出了不同的使用条件下半主动悬挂系统的设计方法。
(5)设计了新型高速列车半主动悬挂系统,新型高速列车半主动悬挂系统由平稳性控制,稳定性控制和会车振动控制组成。新型半主动悬挂系统能够有效提高半主动悬挂车辆稳定性,能够根据运行工况对天棚阻尼进行最优调节,并对会车振动冲击有明显的抑制效果。
(6)基于半主动高速列车稳定性和半主动悬挂系统减振性能的研究成果,对高速列车使用中遇到的稳定性问题和低频振动问题进行分析。并通过仿真计算验证了所提出的新型高速列车半主动悬挂系统对蛇行失稳和车体低频晃动的控制效果。
The semi-active suspension system is effective method for isolating the carbody vibration and improving the ride performance. The development of the high-speed train technology promote the running speed to reach a higher range. The operating condition has great changes in this range, the increases of Track excitation frequency, the wheel wear intensifies, and the vehicle stability highlighted.These changes have brought a new challenge for the application of the semi-active suspension technology in the high-speed trains.Therefore, it is significant to carry out the research of semi-active suspension technology appled in the high speed train. An indenstiy reaserch of semi-active suspension is carried out in this thesis. The main researeh works of the thesis are as below:
1)3DOFs (degrees of freedom) vehicle systems model, and50DOF vehicle systems model is set up respectively. The longitudinal, lateral and vertical movement are coupled in the50DOF vehicle systems model. And the nonlinear characteristics of the suspension and wheel-rail are considered in the model.
2) The semi-active suspension system model is established, compresed of semi-active controller model, sensor model and semi-active damper model. The operating principle of semi-active damper with proportional relief valve is analyzed and modeled. Accrording to the test data, a viscoelastic plastic continuous physical model of the MR (magnetorheological) damper is proposed. The parameters solution method is given. The revese model of the MR damper is set up by using the method of separating the hysteresis function.
3) Using the model of high-speed trains and semi-active suspension system model, the stability of high-speed train equipted with the semi-active suspension is studied. Based on the nonlinear vibration bifurcation theory and the Poincare mapping, the bifurcation of high-speed train with the high and low equivalent concity thread is calculated. And then the interaction of semi-active suspension system and the hunting motion is analyzed. The difference between the passive suspension vehicle and semi-active vehicle is shown and explained from the viewpoint of energy theroy.
4) The isolation vibration characteristic of semi-active method is studied by using the1DOF and2DOF vibration systems. And then perfomence of semi-active suspension system with the the proportional relief valve type damper and the MR damper is investegted respectively. At last, the relationship between the performance of the semi-active suspension system and the operation condition, including the type of vehicle, running speed and the track excitation is analyzed.
5) A new semi-active suspension system solutions applied in the high-speed trains is proposed, it is composed of stability controller, comfort controller and train crossing vibration controller. The new semi-active suspension system can improve effectively the stability of vehicle quipted with the low concity thread in the wear stated, and shock the vibration produced by the train crossing pressure.
6) Based on the research result of the stability of semi-active high-speed trains and the isolation vibration performance of semi-active suspension, the hunting instability and the low frequency vibration of carbody is analyzed. The solution based on the new semi-active suspension is appled in the solution of those problems.
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