CN104477049B - Magnetic-levitation train based on virtual energy capture device-bridge self-excited vibration suppressing method - Google Patents

Abstract

The invention discloses a kind of magnetic-levitation train bridge self-excited vibration suppressing method based on virtual energy capture device, step includes: utilize the acceleration of levitating electromagnet, levitation gap to estimate the vibration velocity of bridge；Using levitating electromagnet as the excitation coil virtual energy capture device of structure of virtual energy capture device, estimate the virtual energy capture device active force to bridge；On the premise of the suspension system homeostasis ensureing magnetic-levitation train, it is constant that the control outer shroud keeping the suspension control system of magnetic-levitation train uses PD to control, the electric current that controls of the active force equivalence of bridge is superimposed in the current feedback controlling internal ring of suspension control system by virtual energy capture device, it is achieved the suppression to magnetic-levitation train bridge self-excited vibration.The present invention is capable of the generation stablizing, avoiding self-excited vibration of maglev vehicle bridge coupled system, improves the magnetic-levitation train low speed ability by bridge, it is not necessary to install the equipment such as energy capture device on bridge, implements simple and low cost.

Description

Magnetic-levitation train based on virtual energy capture device-bridge self-excited vibration suppressing method

Technical field

The present invention relates to magnetic-levitation train-bridge coupled self-excited vibration suppressing method, be specifically related to a kind of based on virtual energy capture device Magnetic-levitation train-bridge self-excited vibration suppressing method, it is adaptable to electromagnetic type often leads (Electro Magnetic Suspension, abbreviation EMS) low-speed maglev train.

Background technology

It is that a kind of dependence is arranged on that electromagnetic type often leads (Electro Magnetic Suspension is called for short EMS) low-speed maglev train The captivation between electric magnet and track on train makes train suspend the new traffic tool that orbits, with its safety, The advantage such as comfortable, pollution-free wins increasing concern.Magnetic floating system quickly grows in worldwide in recent years, but When magnetic-levitation train passes through bridge with relatively low speed, magnetic-levitation train-bridge coupled self-excited vibration problem may be produced.Work as coupling After self-excited vibration produces, bridge, electric magnet and car body all can be with bigger amplitude vertical vibrations.The vertical vibration pair of bridge Bridge structure produces bigger impact, can shorten the service life of bridge；The vertical vibration of electric magnet can reduce the steady of suspension system Qualitative, even occur that situation that electric magnet and track collide with causes suspension system unstability；Vehicle is taken advantage of by the vertical vibration of car body Sit comfortableness and produce large effect, be unfavorable for improving the competitiveness of magnetic floating system.Therefore, magnetic-levitation train-bridge couples from exciting Dynamic is a global problem urgently to be resolved hurrily in current magnetic floating system commercialization process.

As it is shown in figure 1, the EMS type low-speed maglev train of prior art uses modularity bogie structure, often joint car has four to turn To frame 1, each bogie 1 is made up of two, left and right suspending module 2, is sidewindered beam 3 by anti-and hung between two suspending modules 2 Bar is connected.Each suspending module 2 is provided with four levitating electromagnets 21, levitating electromagnet 21 respectively with the F shape on sleeper The section of track 3 is positioned opposite, and along train direct of travel, four levitating electromagnets 21 is divided into two groups, and often group comprises two suspension electromagnetism Ferrum 21, two levitating electromagnet 21 series equivalent in group are a Single electromagnet, a chopper apply voltage and controlled System, as the most basic unit controlled that suspends.

As a example by the test wire magnetic pontoon bridge beam of Tangshan, its length is usually 18m and 24m.Therefore, length is more than its width and height Degree wants big, and the flexural deformation of bridge is negligible relative to for its length, and therefore bridge can be considered as Bernoulli-Euler simply supported beam, the magnetic-levitation train of simplification-bridge coupling model is as in figure 2 it is shown, this coupled system wraps from bottom to top Include: bridge buttress, bridge, sleeper, the section of track, bogie, air spring and car body.In magnetic-levitation train-bridge coupled systemes construction in a systematic way During mould, it usually needs take out the essence affecting vehicle bridge coupling vibration, give up inapparent detail section.Assume t, track Vibration of beam frequency is ω_Vib, speed vibration amplitude is 0.1 (m s^-1), single module suspension system is to the output of bridge and vibration Relation between frequency is not as it is shown on figure 3, the most consider the elasticity of bridge buttress, it is believed that the company between bridge and buttress The relation of connecing meets the boundary constraint mode of simply supported beam.Usually, a length of 24m of bridge, its width and height about 1.2m, I.e. the length of bridge is much larger than its width and height, and the vibration amplitude of bridge is generally less than 1cm, and therefore bridge is considered as Bernoulli-Euler beam.From the figure 3, it may be seen that when frequency of vibration is less than 10Hz, the power that bridge is exported by suspension system is less than Zero, i.e. during bridge vibration, suspension system absorbs the energy of bridge vibration, it is contemplated that bridge itself is passive system, therefore couples Self-excited vibration will not occur.Otherwise, when frequency of vibration is more than 10Hz, suspension system exports energy to bridge, if suspension system Unite to the power of bridge output energy more than the catabiotic power of bridge modal damping, then coupled self-excited vibration will occur.

Energy capture device is for being converted into electric energy by the energy in vibration environment.According to the difference of energy transform mode, can be by it It is divided into piezoelectric type, electrostatic, magnetostriction type, electromagnetic type four class.Wherein, electromagnetic energy catcher utilizes extraneous vibration, Allowing Magnet and coil produce relative motion, relative motion between the two can cause the electric current producing time-varying in the coil closed, should Electric current is used to extraneous electronic equipment charging.Due to electromagnetic energy catcher simple in construction, cost is relatively low, output Relatively big, it has been widely used.As shown in Figure 4, if using magnetic pontoon bridge beam as the driving source of electromagnetic energy catcher, root Understand according to preservation of energy, while electromagnetic energy catcher gives extraneous electronic equipment output energy, also imply that bridge vibration energy The loss of amount.If the power that vibration loss power gathers strength more than suspension system, then self-excited vibration will disappear.Although Energy capture device can be prevented effectively from vehicle-bridge coupling self-excited vibration, but the method needs to install excitation coil, sensing on bridge Coil and external power supply, can improve the cost of magnetic floating system, affects the aesthetic property of circuit.

Summary of the invention

The invention solves the problems that and technical problem is that: for the above-mentioned technical problem of prior art, it is provided that one be capable of maglev vehicle- The generation stablizing, avoiding self-excited vibration of bridge coupled system, improves the magnetic-levitation train low speed ability by bridge, it is not necessary to Energy capture device or the relevant device of entity are installed on bridge, implement the simple and magnetic based on virtual energy capture device of low cost Floating train-bridge self-excited vibration suppressing method.

In order to solve above-mentioned technical problem, the technical solution used in the present invention is:

A kind of magnetic-levitation train based on virtual energy capture device-bridge self-excited vibration suppressing method, step includes:

1) acceleration of levitating electromagnet, levitation gap is utilized to estimate the vibration velocity of bridge；Suspension electromagnetism with magnetic-levitation train Ferrum is control object, using described levitating electromagnet as virtual energy capture device excitation coil build virtual energy capture device, root The virtual energy capture device active force to bridge is estimated according to the vibration velocity of described bridge；

2) on the premise of the suspension system homeostasis ensureing magnetic-levitation train, the control of the suspension control system of magnetic-levitation train is kept It is constant that outer shroud uses PD to control, and to the control electric current of the active force equivalence of bridge, virtual energy capture device is superimposed to suspension control In the current feedback controlling internal ring of system, it is achieved the suppression to magnetic-levitation train-bridge self-excited vibration.

Preferably, described step 1) in utilize the acceleration of levitating electromagnet, levitation gap estimate bridge vibration velocity tool Body refers to be estimated the vibrational state of bridge by the state estimator shown in formula (1), obtains the vibration velocity of bridge

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1\left(t\right)={\mathrm{\λ}}_1{\mathrm{\ω}}_{Vib}\[a\left(t\right)-x_1\left(t\right)\]\\ x_2\left(t\right)=a\left(t\right)-x_1\left(t\right)\\ {\stackrel{\·}{x}}_3\left(t\right)=-{\mathrm{\λ}}_2{\mathrm{\ω}}_{Vib}{x}_1\left(t\right)+x_2\left(t\right)\\ x_4\left(t\right)={\mathrm{\τ}}^{-1}\[\mathrm{\δ}\left(t\right)-\mathrm{\δ}(t-\mathrm{\τ})\]\\ {\stackrel{\·}{x}}_5\left(t\right)={\mathrm{\λ}}_3^{-1}{\mathrm{\ω}}_{Vib}\[x_4\left(t\right)-x_5\left(t\right)\]\\ {\hat{v}}_0\left(t\right)=x_3\left(t\right)-x_5\left(t\right)\end{array}\right.---\left(1\right)$

In formula (1), a (t) represents the acceleration of levitating electromagnet, and δ (t) represents the levitation gap of levitating electromagnet；τ represents poor Substep is long, and δ (t-τ) represents the levitation gap in t-τ moment, λ₁、λ₂、λ₃Represent three parameters of state estimator, ω respectively_Vib Represent the frequency of self-excited vibration,Represent the vibration velocity of bridge；x₁(t)、x₂(t)、x₃(t)、x₄(t)、x₅(t) difference Represent five state variables of state estimator,For state variable x₁The differential of (t),For state variable x₃(t) micro- Point,For state variable x₅The differential of (t).

Preferably, the parameter lambda of described state estimator₁Value be 0.01, parameter lambda₂Value be 0.02, parameter lambda₃Value be 0.04.

Preferably, described step 1) in estimate the virtual energy capture device active force to bridge according to the vibration velocity of described bridge Specifically refer to estimate the virtual energy capture device active force to bridge according to the function expression shown in formula (2)；

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_6\left(t\right)=-L_{c2}^{-1}\[K{\hat{v}}_0\left(t\right)+R_{c2}{x}_6\left(t\right)\]\\ {\hat{F}}_E\left(t\right)=x_6\left(t\right)\end{array}\right.---\left(2\right)$

In formula (2),And x₆T () represents the virtual energy capture device estimating the to obtain active force to bridge,Represent The derivative of active force, L_c2Representing the inductance of induction coil, K represents the gain of virtual energy capture device,Represent bridge Vibration velocity, R_c2Represent the resistive load of induction coil.

Preferably, described step 2) in the virtual energy capture device amplitude such as formula (3) controlling electric current to the equivalence of the active force of bridge Shown in；

$i_E\left(t\right)={\hat{F}}_E\left(t\right)/2F_i---\left(3\right)$

In formula (3), i_ET () represents the virtual energy capture device control electric current to the active force equivalence of bridge,Represent virtual The energy capture device active force to bridge, F_iRepresent the suspending power partial derivative to levitating current at equilibrium point.

Preferably, described step 2) in be superimposed to suspend to the control electric current of the active force of bridge equivalence by virtual energy capture device After in the current feedback controlling internal ring of control system, the suspension control system of magnetic-levitation train uses expression formula shown in formula (4) to pass through Outer shroud uses PD to control, internal ring uses current feedback to realize the suspension system homeostasis of magnetic-levitation train；

$\begin{array}{c}{i}_{\exp }\left(t\right)=k_p\[y_1\left(t\right)-y_0\left(t\right)-z_0\]+k_d{\stackrel{\·}{y}}_1\left(t\right)+i_0\\ u\left(t\right)=k_c\[i_{\exp }\left(t\right)+i_E\left(t\right)-i\left(t\right)\]\end{array}---\left(4\right)$

In formula (4), i_expT () represents the internal ring current expected value of the suspension control system of magnetic-levitation train, k_pRepresent proportional gain, y₁T () represents the vertical vibration displacement of bridge, y₀T () represents the vertical deviation of levitating electromagnet, y₁(t)-y₀T () represents that gap passes Gap between levitating electromagnet upper surface and track that sensor measurement obtains, z₀Represent desired levitation gap, k_dRepresent speed Gain,Represent the vertical velocity of electric magnet, i₀Represent that the steady-state current at equilibrium point, u (t) expression act on suspension electromagnetism Control voltage on ferrum, k_cRepresent current loop gain, i_ET () represents the control to the active force equivalence of bridge of the virtual energy capture device Electric current, i (t) represents the size of current that levitating electromagnet is actual.

Present invention magnetic-levitation train based on virtual energy capture device-bridge self-excited vibration suppressing method has an advantage that

1, the present invention is with the levitating electromagnet of magnetic-levitation train as control object, using levitating electromagnet swashing as virtual energy capture device Encourage coil, utilize the acceleration of levitating electromagnet and levitation gap to estimate the vibration velocity of bridge and virtual energy capture device pair The active force of bridge, on the premise of the suspension system homeostasis ensureing magnetic-levitation train, keeps the suspension of magnetic-levitation train to control system It is constant that the control outer shroud of system uses PD to control, and virtual energy capture device is superimposed to the control electric current of the active force equivalence of bridge The suppression of magnetic-levitation train-bridge self-excited vibration is realized, it is contemplated that equilibrium point is attached in the current feedback controlling internal ring of suspension control system Nearly electromagnetic force and the linear approximate relationship controlled between electric current, it is contemplated that low-frequency range controls electric current and controls can neglect between current-order Time delay slightly, the current-order that superposition is extra in controlling internal ring just can simulate true electromagnetic energy catcher avoid magnetic-levitation train- The effect of bridge coupled system self-excited vibration, it is possible to realize stablizing of maglev vehicle-bridge coupled system, it is possible to avoid self-excited vibration Generation, it is ensured that be capable of on the basis of suspension system stability maglev vehicle-bridge coupled system stable, avoid from exciting Dynamic generation, improves the magnetic-levitation train low speed ability by bridge.

2, the present invention realizes based on virtual energy capture device, it is not necessary to install energy capture device or the excitation line of entity on bridge The relevant devices such as circle, induction coil and external power supply, implement simple, reduce system cost, improve the steady of coupled system Qualitative.

Accompanying drawing explanation

Fig. 1 be prior art EMS type low-speed maglev train on bridge time side-looking structural representation.

Fig. 2 be prior art EMS type low-speed maglev train on bridge time sectional structure schematic diagram.

Fig. 3 is magnetic-levitation train-bridge coupling model schematic diagram that prior art simplifies.

Fig. 4 is that prior art suspension control system is to the relation schematic diagram between output and the frequency of vibration of bridge.

Fig. 5 is the method step schematic diagram of the embodiment of the present invention.

Fig. 6 is that the embodiment of the present invention is using magnetic pontoon bridge beam as the driving source schematic diagram of electromagnetic energy catcher.

Fig. 7 is the principle schematic of virtual energy capture device suppression magnetic-levitation train-bridge self-excited vibration in the embodiment of the present invention.

Fig. 8 is the experiment effect schematic diagram of embodiment of the present invention suppression magnetic-levitation train-bridge self-excited vibration.

Detailed description of the invention

As it is shown in figure 5, the step bag of the present embodiment magnetic-levitation train based on virtual energy capture device-bridge self-excited vibration suppressing method Include:

1) acceleration of levitating electromagnet, levitation gap is utilized to estimate the vibration velocity of bridge；Suspension electromagnetism with magnetic-levitation train Ferrum is control object, using levitating electromagnet as virtual energy capture device excitation coil build virtual energy capture device, according to bridge The vibration of beam velocity estimation virtual energy capture device active force to bridge；

2) on the premise of the suspension system homeostasis ensureing magnetic-levitation train, the control of the suspension control system of magnetic-levitation train is kept It is constant that outer shroud uses PD to control, and to the control electric current of the active force equivalence of bridge, virtual energy capture device is superimposed to suspension control The suppression of magnetic-levitation train-bridge self-excited vibration is realized in the current feedback controlling internal ring of system.

In conjunction with abovementioned steps 1) and step 2) understand, the present embodiment, with levitating electromagnet as control object, utilizes acceleration sensing The measurement data (acceleration and levitation gap) of device and gap sensor, estimates the vibration velocity of bridge by state estimator With the electromagnetic energy catcher active force to bridge, then become with the size controlling electric current according to the size of suspending power near equilibrium point Approximate direct ratio, and the time delay controlled between electric current and current-order in low-frequency range can ignore two features, is ensureing suspension system On the premise of homeostasis, in controlling internal ring, superposition additionally controls the effect of the current-order true electromagnetic energy catcher of simulation, Reach to avoid the effect of magnetic-levitation train-bridge coupled system self-excited vibration, improve the magnetic-levitation train low speed ability by bridge.

In the present embodiment, step 1) in utilize the acceleration of levitating electromagnet, levitation gap to estimate the vibration velocity tool of bridge Body refers to be estimated the vibrational state of bridge by the state estimator shown in formula (1), obtains the vibration velocity of bridge

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1\left(t\right)={\mathrm{\λ}}_1{\mathrm{\ω}}_{Vib}\[a\left(t\right)-x_1\left(t\right)\]\\ x_2\left(t\right)=a\left(t\right)-x_1\left(t\right)\\ {\stackrel{\·}{x}}_3\left(t\right)=-{\mathrm{\λ}}_2{\mathrm{\ω}}_{Vib}{x}_1\left(t\right)+x_2\left(t\right)\\ x_4\left(t\right)={\mathrm{\τ}}^{-1}\[\mathrm{\δ}\left(t\right)-\mathrm{\δ}(t-\mathrm{\τ})\]\\ {\stackrel{\·}{x}}_5\left(t\right)={\mathrm{\λ}}_3^{-1}{\mathrm{\ω}}_{Vib}\[x_4\left(t\right)-x_5\left(t\right)\]\\ {\hat{v}}_0\left(t\right)=x_3\left(t\right)-x_5\left(t\right)\end{array}\right.---\left(1\right)$

In formula (1), a (t) represents the acceleration of levitating electromagnet, and δ (t) represents the levitation gap of levitating electromagnet；τ represents poor Substep is long, and δ (t-τ) represents the levitation gap in t-τ moment, λ₁、λ₂、λ₃Represent three parameters of state estimator, ω respectively_Vib Represent the frequency of self-excited vibration,Represent the vibration velocity of bridge；x₁(t)、x₂(t)、x₃(t)、x₄(t)、x₅(t) difference Represent five state variables of state estimator,For state variable x₁The differential of (t),For state variable x₃(t) micro- Point,For state variable x₅The differential of (t).Utilize acceleration transducer and the gap sensor measurement data of aerotrain, Utilize aforesaid state estimator, the high-frequency noise in filtering the DC component and gap signal being blended in acceleration signal same Time, i.e. can get the vibration velocity estimated value of bridge.

In the present embodiment, the parameter lambda of state estimator₁Value be 0.01, parameter lambda₂Value be 0.02, parameter lambda₃Value be 0.04. When parameter is λ₁=0.01, λ₂=0.02 and λ₃When=0.04, state estimator can estimate bridge vertical vibration speed's Meanwhile, the high-frequency noise in the DC component being blended in acceleration signal and gap signal is filtered.

In the present embodiment, step 1) in estimate that virtual energy capture device is concrete to the active force of bridge according to the vibration velocity of bridge Refer to estimate the virtual energy capture device active force to bridge according to the function expression shown in formula (2)；

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_6\left(t\right)=-L_{c2}^{-1}\[K{\hat{v}}_0\left(t\right)+R_{c2}{x}_6\left(t\right)\]\\ {\hat{F}}_E\left(t\right)=x_6\left(t\right)\end{array}\right.---\left(2\right)$

In formula (2),And x₆T () represents the virtual energy capture device estimating the to obtain active force to bridge,Represent The derivative of active force, L_c2The inductance of expression _ induction coil, K represents the gain of virtual energy capture device,Represent bridge Vibration velocity, R_c2Represent the resistive load of induction coil.

In order to simulate the effect of true electromagnetic energy catcher, need electric magnet on the basis of original electromagnetic force, one power of superpositionNear equilibrium point, size and the size of current of electromagnetic force is directly proportional, and therefore, is equivalent to the basis at original control electric current Upper additional amplitude isElectric current.In the present embodiment, step 2) in the virtual energy capture device work to bridge Firmly shown in the amplitude such as formula (3) controlling electric current of equivalence；

$i_E\left(t\right)={\hat{F}}_E\left(t\right)/2F_i---\left(3\right)$

In formula (3), i_ET () represents the virtual energy capture device control electric current to the active force equivalence of bridge,Represent virtual The energy capture device active force to bridge, F_iRepresent the suspending power partial derivative to levitating current at equilibrium point.

In the present embodiment, step 2) in be superimposed to suspend to the control electric current of the active force equivalence of bridge by virtual energy capture device After in the current feedback controlling internal ring of control system, the suspension control system of magnetic-levitation train uses expression formula shown in formula (4) to pass through Outer shroud uses PD to control, internal ring uses current feedback to realize the suspension system homeostasis of magnetic-levitation train；

$\begin{array}{c}{i}_{\exp }\left(t\right)=k_p\[y_1\left(t\right)-y_0\left(t\right)-z_0\]+k_d{\stackrel{\·}{y}}_1\left(t\right)+i_0\\ u\left(t\right)=k_c\[i_{\exp }\left(t\right)+i_E\left(t\right)-i\left(t\right)\]\end{array}---\left(4\right)$

In formula (4), i_expT () represents the internal ring current expected value of the suspension control system of magnetic-levitation train, k_pRepresent proportional gain, y₁T () represents the vertical vibration displacement of bridge, y₀T () represents the vertical deviation of levitating electromagnet, y₁(t)-y₀T () represents that gap passes Gap between levitating electromagnet upper surface and track that sensor measurement obtains, z₀Represent desired levitation gap, k_dRepresent speed Gain,Represent the vertical velocity of electric magnet, i₀Represent that the steady-state current at equilibrium point, u (t) expression act on suspension electromagnetism Control voltage on ferrum, k_cRepresent current loop gain, i_ET () represents the control to the active force equivalence of bridge of the virtual energy capture device Electric current, i (t) represents the size of current that levitating electromagnet is actual.

The suspension control system of the magnetic-levitation train of prior art uses expression formula shown in formula (4-1) to realize the suspension system of magnetic-levitation train Homeostasis；

$\begin{array}{c}{i}_{\exp }\left(t\right)=k_p\[y_1\left(t\right)-y_0\left(t\right)-z_0\]+k_d{\stackrel{\·}{y}}_1\left(t\right)+i_0\\ u\left(t\right)=k_c\[i_{\exp }\left(t\right)-i\left(t\right)\]\end{array}---\left(4\right)$

In formula (4-1), the implication of parameters variable is identical with formula (4), therefore does not repeats them here.When not considering bridge bullet Property vibration time, the suspension control system of the magnetic-levitation train of prior art is chosen and is suitably controlled parameter and be to ensure that suspension system Stable, but when considering bridge elastic, maglev vehicle-bridge that the suspension control system of the magnetic-levitation train of prior art is constituted Coupled system may be produced from excited vibration.Owing to the internal ring of suspension control system uses current feedback, can neglect in relatively low-frequency range Slightly control the time delay controlled between electric current of current-order and reality.Therefore, it can control internal ring superposition amplitude beCurrent-order, such that it is able to be derived by the magnetic-levitation train of the present embodiment suspension control system use formula (4) expression formula shown in realizes the suspension system homeostasis of magnetic-levitation train.And owing to the present embodiment utilizes levitating electromagnet existing Gap sensor measure electric magnet upper surface relative to the gap y of track₁(t)-y₀T (), by the phase between bridge and electric magnet Adjust the distance, it is achieved that need not that sensor is installed on bridge and also can realize the virtual energy capture device essence to the active force of bridge Really estimate, to realize magnetic-levitation train-bridge self-excited vibration suppression.

As shown in Figure 6, bridge-suspension system is constituted between aerotrain and bridge, if using bridge-suspension system as energy The driving source of capture system, in bridge-suspension system, y₁Represent the displacement of electric magnet, y₀Representing the displacement of bridge, δ represents outstanding Floating gap, F_mRepresenting and act on the electromagnetic force on bridge, L represents the span of bridge；In energy capture system, L_c2Represent sensing The inductance coefficent of coil, r_c2Represent the radius of induction coil, I_c2Represent faradic size in induction coil, R_c2Represent sense Answer the size of the resistive load of coil, F_ERepresenting the amount of force between induction coil and excitation coil, B represents induction coil And the magnetic field intensity between excitation coil, r_c1Represent the radius of excitation coil, I_c1Represent the electric current in excitation coil.According to energy Conservation understands, and while energy capture system gives extraneous electronic equipment output energy, also implies that bridge-suspension system Bridge shakes The loss of energy.If the power that vibration loss power gathers strength more than suspension system, then magnetic-levitation train-bridge is from exciting Move and will disappear；Energy capture system can be prevented effectively from vehicle-bridge coupling self-excited vibration, but if directly uses energy capture device Realize the energy capture to driving source, then need to install excitation coil, induction coil and external power supply on bridge, can carry The cost of high magnetic floating system, affects the aesthetic property of circuit, and therefore energy capture system is passed through virtual energy capture device by the present embodiment Realize, from without installing excitation coil, induction coil and external power supply, it is possible to reduce the cost of magnetic floating system, and Structure is simpler.The present embodiment considers levitating electromagnet the most excellent a kind of excitation coil, if ensured On the basis of suspension system stability, energy capture system is realized by the present embodiment by virtual energy capture device, uses suspension electromagnetism Ferrum produces an active force similar with true electromagnetic energy catcher and is applied on bridge, the effect of simulation electromagnetic energy catcher, Realize stablizing of Vehicle-Bridge Coupling System.The close-loop control scheme of the present embodiment suspension control system is to suspend based on prior art to control The improvement of the close-loop control scheme of system, its distinctive points is that close-loop control scheme based on prior art suspension control system adds Virtual energy capture device, for same as the prior art.

As it is shown in fig. 7, z₀Represent stable state levitation gap, k_pRepresent proportional gain, k_dRepresent speed gain, i_expRepresent expectation electricity Stream, i_ERepresent and simulate the current-order that virtual energy capture device is applied, k_cRepresenting current loop gain, u represents control voltage, i Represent levitating current actual in electric magnet, F_mRepresenting and act on the electromagnetic force on bridge, H (S) represents that external forces is to bridge The transmission function of vibration velocity, m₁ ^-1Represent the inverse of electric magnet quality, v₀Represent the vertical velocity of bridge, y₀Represent bridge Vertical deviation, a represents the vertical acceleration of electric magnet, v₁Represent the vertical velocity of electric magnet, y₁Represent the vertical position of electric magnet Moving, δ represents the levitation gap of electric magnet relative orbit.The electric vortex sensor measuring electric magnet being arranged on electric magnet relative to Distance δ of track, its feedback oscillator is k_p.The acceleration transducer being arranged on electric magnet gathers the acceleration a of electric magnet, Utilize the vertical velocity v obtaining electric magnet from RZI return to zero integration device₁, its feedback oscillator is k_d, provide damping for suspension control system. In order to accelerate the response speed of electric magnet, internal ring uses current ratio feedback, and its feedback oscillator is k_c.Utilize pwm circuit, Be converted to above-mentioned controlled quentity controlled variable control voltage, act on electric magnet, it is ensured that the stability of suspension system.

But, said method only can guarantee that the stability of suspension system self, does not ensures that bridge stablizing under control system Property.In order to ensure bridge stability under control system, utilize the measurement data of acceleration transducer and gap sensor, logical Cross state estimator and estimate vibration velocity and the electromagnetic energy catcher active force to bridge of bridge, then attached according to equilibrium point The size of nearly suspending power becomes approximation direct ratio with the size controlling electric current, and controls the time delay between electric current and current-order in low-frequency range Can ignore two features, ensure on the premise of suspension system homeostasis, in controlling internal ring, superposition additionally controls electric current and refers to The effect of true electromagnetic energy catcher is simulated in order, reaches to avoid the effect of magnetic-levitation train-bridge coupled system self-excited vibration, improves The magnetic-levitation train low speed ability by bridge.

In order to verify the present embodiment method effectiveness in suppression magnetic-levitation train-bridge self-excited vibration, utilize full chi at Tangshan test wire Very little CMS04 low speed magnetic floating has carried out experimental verification, experiment effect as shown in Figure 8, according to above-mentioned experiment: as t < 28.6s, Only with PD control rate, under the effect of PD control rate, magnetic-levitation train-bridge coupled system occurs in that self-excited vibration, suspends Gap, electric magnet acceleration, levitating current all occur in that and fluctuate largely.As 28.6s < t < 31.4s, activate virtual energy Amount catcher algorithm, i.e. allows extra current instruction i_EEffective output of (t), as seen from the figure extra current instruction i_ET () maximum reaches To 3A.After activating virtual energy capture device, levitation gap, electric magnet acceleration, levitating current are experiencing of short duration significantly tune After whole, its fluctuation amplitude reduces rapidly, until self-excited vibration is wholly absent.Work as t > 31.4s, close virtual energy capture device, Levitation gap, electric magnet acceleration, the fluctuation amplitude of levitating current start again slowly to increase, and self-excited vibration produces again, therefore Experiment indicates the present embodiment effectiveness in suppression magnetic-levitation train-bridge self-excited vibration.

The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-described embodiment, all The technical scheme belonged under thinking of the present invention belongs to protection scope of the present invention.It should be pointed out that, for the art is common For technical staff, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications also should be regarded as this The protection domain of invention.

Claims (6)

1. magnetic-levitation train based on virtual energy capture device-bridge self-excited vibration suppressing method, it is characterised in that step includes:

1) acceleration of levitating electromagnet, levitation gap is utilized to estimate the vibration velocity of bridge；Suspension electromagnetism with magnetic-levitation train Ferrum is control object, using described levitating electromagnet as virtual energy capture device excitation coil build virtual energy capture device, root The virtual energy capture device active force to bridge is estimated according to the vibration velocity of described bridge；

2) on the premise of the suspension system homeostasis ensureing magnetic-levitation train, the control of the suspension control system of magnetic-levitation train is kept It is constant that outer shroud uses PD to control, and to the control electric current of the active force equivalence of bridge, virtual energy capture device is superimposed to suspension control In the current feedback controlling internal ring of system, it is achieved the suppression to magnetic-levitation train-bridge self-excited vibration.

Magnetic-levitation train based on virtual energy capture device-bridge self-excited vibration suppressing method the most according to claim 1, it is special Levy and be: described step 1) in utilize the acceleration of levitating electromagnet, levitation gap to estimate the vibration velocity of bridge specifically Refer to be estimated by the state estimator shown in formula (1) vibrational state of bridge, obtain the vibration velocity of bridge

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{x}}_1\left(t\right)={\mathrm{\&lambda;}}_1{\mathrm{\&omega;}}_{Vib}\&lsqb;a\left(t\right)-x_1\left(t\right)\&rsqb;\\ x_2\left(t\right)=a\left(t\right)-x_1\left(t\right)\\ {\stackrel{\&CenterDot;}{x}}_3\left(t\right)=-{\mathrm{\&lambda;}}_2{\mathrm{\&omega;}}_{Vib}{x}_1\left(t\right)+x_2\left(t\right)\\ x_4\left(t\right)={\mathrm{\&tau;}}^{-1}\&lsqb;\mathrm{\&delta;}\left(t\right)-\mathrm{\&delta;}(t-\mathrm{\&tau;})\&rsqb;\\ {\stackrel{\&CenterDot;}{x}}_5\left(t\right)={\mathrm{\&lambda;}}_3^{-1}{\mathrm{\&omega;}}_{Vib}\&lsqb;x_4\left(t\right)-x_5\left(t\right)\&rsqb;\\ {\hat{v}}_0\left(t\right)=x_3\left(t\right)-x_5\left(t\right)\end{array}\right.---\left(1\right)$

In formula (1), a (t) represents the acceleration of levitating electromagnet, and δ (t) represents the levitation gap of levitating electromagnet；τ represents poor Substep is long, and δ (t-τ) represents the levitation gap in t-τ moment, λ₁、λ₂、λ₃Represent three parameters of state estimator, ω respectively_Vib Represent the frequency of self-excited vibration,Represent the vibration velocity of bridge；x₁(t)、x₂(t)、x₃(t)、x₄(t)、x₅(t) difference Represent five state variables of state estimator,For state variable x₁The differential of (t),For state variable x₃(t) micro- Point,For state variable x₅The differential of (t).

Magnetic-levitation train based on virtual energy capture device-bridge self-excited vibration suppressing method the most according to claim 2, it is special Levy and be: the parameter lambda of described state estimator₁Value be 0.01, parameter lambda₂Value be 0.02, parameter lambda₃Value be 0.04.

Magnetic-levitation train based on virtual energy capture device-bridge self-excited vibration suppressing method the most according to claim 3, it is special Levy and be: described step 1) in estimate that virtual energy capture device is concrete to the active force of bridge according to the vibration velocity of described bridge Refer to estimate the virtual energy capture device active force to bridge according to the function expression shown in formula (2)；

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{x}}_6\left(t\right)=-L_{c2}^{-1}\&lsqb;K{\hat{v}}_0\left(t\right)+R_{c2}{x}_6\left(t\right)\&rsqb;\\ {\hat{F}}_E\left(t\right)=x_6\left(t\right)\end{array}\right.---\left(2\right)$

In formula (2),And x₆T () represents the virtual energy capture device estimating the to obtain active force to bridge,Represent The derivative of active force, L_c2Representing the inductance of induction coil, K represents the gain of virtual energy capture device,Represent bridge Vibration velocity, R_c2Represent the resistive load of induction coil.

5. according to magnetic-levitation train based on the virtual energy capture device-bridge self-excited vibration described in any one in Claims 1 to 4 Suppressing method, it is characterised in that: described step 2) in the virtual energy capture device electric current that controls to the active force of bridge equivalence Shown in amplitude such as formula (3)；

$i_E\left(t\right)={\hat{F}}_E\left(t\right)/2F_i---\left(3\right)$

In formula (3), i_ET () represents the virtual energy capture device control electric current to the active force equivalence of bridge,Represent virtual The energy capture device active force to bridge, F_iRepresent the suspending power partial derivative to levitating current at equilibrium point.

Magnetic-levitation train based on virtual energy capture device-bridge self-excited vibration suppressing method the most according to claim 5, it is special Levy and be: described step 2) in virtual energy capture device is superimposed to suspension control to the control electric current of the active force of bridge equivalence After in the current feedback controlling internal ring of system, the suspension control system of magnetic-levitation train uses expression formula shown in formula (4) to pass through outer shroud Use PD to control, internal ring uses current feedback to realize the suspension system homeostasis of magnetic-levitation train；

$\begin{array}{c}{i}_{\exp }\left(t\right)=k_p\&lsqb;y_1\left(t\right)-y_0\left(t\right)-z_0\&rsqb;+k_d{\stackrel{\&CenterDot;}{y}}_1\left(t\right)+i_0\\ u\left(t\right)=k_c\&lsqb;i_{\exp }\left(t\right)+i_E\left(t\right)-i\left(t\right)\&rsqb;\end{array}---\left(4\right)$

In formula (4), i_expT () represents the internal ring current expected value of the suspension control system of magnetic-levitation train, k_pRepresent proportional gain, y₁T () represents the vertical vibration displacement of bridge, y₀T () represents the vertical deviation of levitating electromagnet, y₁(t)-y₀T () represents that gap passes Gap between levitating electromagnet upper surface and track that sensor measurement obtains, z₀Represent desired levitation gap, k_dRepresent speed Gain,Represent the vertical velocity of electric magnet, i₀Represent that the steady-state current at equilibrium point, u (t) expression act on suspension electromagnetism Control voltage on ferrum, k_cRepresent current loop gain, i_ET () represents the control to the active force equivalence of bridge of the virtual energy capture device Electric current, i (t) represents the size of current that levitating electromagnet is actual.