基于电机主动架悬的高速列车转向架蛇行稳定性控制研究

The traction motor weight and traction power get increased with the train speed increasing. This raises the bogie weight between primary and secondary suspensions, and as a result reduces the bogie stability greatly. This has become a critical problem for the further speed increase and safe operation of trains. In the past, most works on the control of bogie hunting were focused on the methods of adjusting the primary and secondary suspension parameters. However, the requirement of suspension parameters is contradictive to the curve performance. In this project, the bogie-suspended traction motor is taken as the dynamic vibration absorber, and the non-linear dynamic system with the delayed feedback control of the active motor suspension is researched. Focused on the special self-excited vibration of the bogie hunting, the active control of its stability is studied. The theoretical analysis method is used to derive the optimal design formula of the ideal dynamic vibration absorber for this special self-excited vibration system, and the feedback control strategy to simulate the ideal vibration absorber is studied. Then the influence of feedback gain and time delay on the stability of the control system is analyzed, and the theory of active vibration absorption for bogie hunting is formed. Based on the proposed theory, the motor active suspension method is then established. The real-time compensation method of actuator delay and the adaptive control method of motor active suspension are designed. Finally, the numerical simulation of the electromechanical coupling dynamics and rolling vibration bench test for the high-dimensional and nonlinear high-speed trains are carried out to verify the effectiveness of theoretical research. The research of this project is expected to form a novel control method for hunting stability, which will provide guidance and technical support for the design of high-speed trains.

伴随列车高速化和牵引功率的提高，转向架簧间牵引电机质量不断增加，大大降低了转向架蛇行稳定性，这已成为列车进一步提速和安全运行亟待解决的关键问题。以往通过调整一二系被动悬挂来抑制转向架蛇行，但与曲线通过对悬挂参数要求相矛盾。本项目将电机作为动力吸振器，以时滞反馈控制下的电机主动架悬非线性动力系统为研究对象，针对转向架蛇行这一特殊自激振动现象，开展其运动稳定性的主动控制研究。通过理论分析，推导自激振动系统的理想动力吸振器最优参数公式，研究动力吸振器的反馈控制策略，分析反馈增益和时滞对蛇行稳定性的影响，形成转向架蛇行的主动动力吸振理论。在此基础上，设计作动器时滞实时补偿算法和电机主动架悬自适应调节算法，构建电机主动架悬控制方法。最后，开展高维、非线性高速列车机电耦合动力学数值仿真和整车台架滚振试验，进行理论研究验证。本项目将建立一种新颖的蛇行稳定性控制方法，为高速列车设计研发提供指导和技术支撑。

伴随列车高速化和牵引功率的提高，转向架簧间牵引电机质量不断增加，大大降低了转向架蛇行稳定性，这已成为列车进一步提速和安全运行亟待解决的关键问题。电机被动架悬转向架的电机悬挂频率无法跟随轮轨匹配等效锥度的变化而变化，所以对蛇行运动的动力吸振效果不佳。本项目提出电机主动架悬方法，通过主动调节电机悬挂参数，使电机横移频率跟随轮轨匹配等效锥度的变化而变化，从而时刻达到理想的动力吸振状态。首先，建立了电机架悬转向架动力学模型，研究了轮轨匹配等效锥度和转向架悬挂参数对电机最佳横移频率和阻尼比的影响，得到了自激振动系统理想动力吸振器最优参数与蛇行频率的映射关系。提出了动力吸振器的反馈控制策略，通过实时检测转向架蛇行频率，即可得到电机最佳横移频率，再结合电机和构架相对位移和速度信号，即可实现对电机架悬参数的自适应调节。为了补偿控制系统时滞的影响，还给出了时滞的实时补偿方法。接着，开展了高维、非线性高速列车机电耦合动力学数值仿真，分析电机主动架悬控制策略对动力学性能的影响，验证了控制方法的有效性。最后，还建立了主动控制系统硬件和软件平台，为试验研究提供了技术支撑。本项目提出的控制策略能够有效提升动车组的蛇行稳定性和运行平稳性，对曲线通过安全性的影响很小。作为一种新颖的蛇行稳定性控制方法，可为未来高速列车设计研发提供指导和技术支撑。

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