基于弹性车体的摆式列车倾摆控制仿真.pdfVIP

基于弹性车体的摆式列车倾摆控制仿真 罗仁，曾京 西南交通大学 牵引动力国家重点实验室，四川成都 （610031 ） 摘 要：为了研究摆式列车倾摆对车体弹性振动影响，建立了摆式列车机电耦合动力学和控制模型，考虑 车体的一阶横向、垂向和扭转振型，由Rizt法得到车体的弹性振动方程。摆式列车采用在线检测曲线倾摆 方式，由位于头车一位构架上的横向加速度滤波信号得到倾摆控制信号，由同一位置的陀螺仪测量构架侧 滚角速度滤波后检测曲线。采用H∞鲁棒数字控制器控制前后倾摆作动器。使用数值仿真研究摆式列车曲线 通过时的车体弹性振动。结果表明通过曲线时车体的扭转振动比直线上大；车体倾摆会增大车体扭转振动 幅值；前后摆枕倾摆不一致时，车体扭转振动均值变大但振幅变化小；P 同步控制能保证前后摆枕倾摆的 一致性。 关键词：摆式列车；弹性车体；动力学仿真；同步控制 中图分类号：U270.2 文献标识码：A Tilting Control Simulation for Tilting Train with Flexible Carbody (Traction Power State Key Laboratory, Southwest Jiaotong University, Chengdu 610031, China) Abstract To study the influence of carbody elastic vibration during tilting, the model for the tilting train mechanical-electrical coupled dynamics and carbody tilting control is established. The first modal shapes for the carbody lateral, vertical and torsional vibrations are considered. Then the differential equations considering the carbody elastic vibration are obtained using Ritz method. The carbody tilting is controlled by the method of online measurement of curving signals. The tilting control signal is based on the filtered lateral acceleration of the sensor on the first bogie frame. The curved track information is obtained from the filtered signals of the gyroscope on the first bogie frame. The H∞robust digital controller is designed for the tilting system. The carbody elastic vibration during curve negotiation is studied by numerical method. It can be known from the numerical results that, the carbody torsional and lateral vibrations are larger on curved track than on straight track. The torsional vibration will increase during carbody tilting. The synchronism of the actuators on the front an