CN105631128B - A dynamic modeling and simulation method for a large-scale vertical coupling system of high-speed railway bow-net-vehicle-rail - Google Patents
A dynamic modeling and simulation method for a large-scale vertical coupling system of high-speed railway bow-net-vehicle-rail Download PDFInfo
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Abstract
The invention discloses one kind high-speed railway bow-big system dynamic modeling emulation modes of net-vehicle-rail vertical coupled, contact net, bow-vehicle, the independent kinetic model of three systems of track and mutual contact model are established respectively, and propose that a kind of coupling point algorithm realizes the Coupled Dynamics simulation calculation of the high-speed railway bow-net-big system of vehicle-rail.It is compared with the traditional method, the present invention can be improved the accuracy and safety of successive projects design it can be considered that two-way interactive affecting laws between two system of bow net and track, simulation calculation are more in line with reality.
Description
Technical field
The invention belongs to the power circuit of electric vehicle or along the device of rail, especially overhead line and its attachment used
Dynamic Modeling simulation technical field.
Background technique
High-speed railway bow net dynamic behavior and wheel rail dynamics behavior are all current research hotspots, the former determines column
The electric energy efficiency of transmission of vehicle, the latter are even more the safe operation for determining train, both determine highest running speed of train
Key factor.Numerical value emulation method is in research bow net dynamic behaviour and wheel rail dynamics behavior and to design its key parameter
Important channel is all mostly still to be carried out that modeling and simulating, phase between the two is separated and independently performed in previous model
Mutual influence relationship is usually ignored, and in recent years, some scholars consider one-sided influence of the track vibration on bow net, such as Zhai Wan
Bright et al. the paper at 32-38 pages of the phase of periodical " railway society " 1998 volume 20 the 1st " vibrate to by electricity by locomotive-orbit coupling
The dynamic (dynamical) influence of bow-contact net system " in, two models of track and bow net are established respectively, and the vibratory response of track is applied
It is added to bow net, realizes one-side Dynamics Coupling.So far, there are no net-bow-vehicle-rail big system coupling models
Relevant report, bow net and wheel track bidirectional couple relationship between the two are not yet considered.It is an object of the invention to propose one
Kind high-speed railway bow-big system vertical coupled dynamics modeling method of net-vehicle-rail, establishes contact net, bow-vehicle, track three respectively
A independent kinetic model of system and mutual contact model, and propose that a kind of coupling point algorithm realizes high-speed railway
Bow-net-vehicle-rail big system Coupled Dynamics simulation calculation.The present invention is it can be considered that friendship between two system of bow net and track
Mutual affecting laws, simulation calculation is more accurate, can be improved the accuracy and safety of successive projects design.
Summary of the invention
It is an object of the invention to propose a kind of high-speed railway bow-net-vehicle-rail big system vertical coupled dynamics modeling side
Method is established contact net, bow-vehicle, the independent kinetic model of three systems of track and mutual contact model respectively, and is mentioned
A kind of coupling point algorithm realizes the Coupled Dynamics simulation calculation of the high-speed railway bow-net-big system of vehicle-rail out.Enable
High-speed railway pantograph-contact net-car body-big system modeling and simulation of track vertical coupled is carried out, bow net and track are able to reflect
Between the effect of intercoupling, can consider that bow net contact, Wheel Rail Contact and dropper different working condition etc. are rough simultaneously
Nonlinear characteristic.
The specific means of present invention realization goal of the invention are as follows:
A kind of high-speed railway bow-big system dynamic modeling emulation mode of net-vehicle-rail vertical coupled considers bow at the same time
It is carried out in the case where the influence factors such as the rough nonlinear characteristics such as net contact, Wheel Rail Contact and dropper different working condition high
Fast railway pantograph-contact net-car body-big system modeling and simulation of track vertical coupled, to reflect the phase between bow net and track
Mutual coupling effect, comprises the following specific steps that:
1) contact net, bow-vehicle, dynamics of orbits model, are established respectively；
Step 1. establishes contact net kinetic model using finite element method, and kinetics equation may be expressed as:
Wherein, MC、CC、KCRespectively contact net quality, damping, stiffness matrix,XCIt (t) is respectively to connect
Net-fault acceleration, speed, transposed matrix, FC(x, t) is dynamic excitation；
Using mode, method establishes dynamics of orbits model to step 2. respectively, and kinetics equation may be expressed as:
Wherein, MT、CT、KTRespectively track quality, damping, stiffness matrix,XTIt (t) is respectively track
Acceleration, speed, transposed matrix, FTIt (t) is dynamic excitation；
Step 3. establishes pantograph-body powered model using many-body dynamics method, and kinetics equation can indicate
Are as follows:
Wherein, MV、CV、KVRespectively bow-Che Zhiliang, damping, stiffness matrix,XVIt (t) is respectively bow-
Vehicle acceleration, speed, transposed matrix, FVIt (t) is dynamic excitation；
2) bow net, track contact model, are constructed respectively
Step 1. constructs bow net contact model using penalty function method:
Wherein, KSFor bow net contact rigidity, y1(t) pantograph collector head is displaced, ycIt (t) is contact line contact point vertical deviation,
fcIt (t) is bow net contact power,
Step 2. constructs Wheel-rail contact model according to Hertz theory:
Wherein G is hertz constant, fwjIt (t) is the contact force of j-th of wheel and track；wr(xwj, t) be contact point track
Displacement, ZwjIt (t) is the vertical deviation of j-th of wheel；w0It (t) is staticaccelerator track irregularity；
3), bow-net-vehicle-rail complicated coupling dynamic system is solved by method of value solving, in each time
Iterative algorithm in step is as follows:
(1) contact point of bow net and wheel track is determined according to running velocity and current time；
(2) active force f between track is calculated by Wheel-rail contact modelwj(t)；
(3) bow net coupling model catenet-bow-vehicle system is used, and wheel rail force is applied to bow-net-vehicle system and is fallen into a trap
It calculates contact net and responds XC(t) and pantograph-car body responds XV(t)；
(4) X is responded according to car bodyV(t) and Wheel-rail contact model updates active force f between trackwj(t)；
(5) track active force is applied to model trajectory, calculates track and responds XT(t), and convergence is judged, if met
Then enter future time to walk, return step (2) if being unsatisfactory for；
4) the above simulation result, is input to display or subsequent processing device.
It is special by each step particular content and design for the theoretical foundation and acquisition process for clearly illustrating the above technological means
Details are as follows for method:
1. bow-net-vehicle-rail system is directed to, as shown in Figure 1, establishing independent contact net, bow-vehicle, wheel rail dynamics respectively
Model.
Step 1. establishes contact net kinetic model using finite element method, and wherein contact line and carrier cable regard Euler as
Bernoulli Jacob's beam element, dropper regard that spring unit, other suspension arrangements regard lumped mass, rigidity point as, each unit it is rigid
Degree matrix can refer to correlated finite element books, and after being integrated by finite element method, its kinetics equation of contact net be may be expressed as:
Wherein, MT、CT、KTRespectively track quality, damping, stiffness matrix,XTIt (t) is respectively track
Acceleration, speed, transposed matrix, FTIt (t) is dynamic excitation.
Step 2. establishes dynamics of orbits model using Mode Decomposition, and track can also regard Euler's Bernoulli Jacob's beam list as
Member, motion partial differential equation can be written as
Wherein, EIrIt is curved in tracks rigidity, ρrIt is line density, friWithIt is the external force position of i-th of support device respectively
It sets, nrIt is the quantity of support device, xwjIt is the contact point of j-th of wheel and track.wr(x, t) indicates track vertical deviation.It is logical
Mode decomposition is crossed, can be expressed as
Wherein, quIt (t) is u rank generalized displacement, ψuIt (x) is corresponding mode function.By bringing formula (3) into formula (2),
The kinetics equation of track can be obtained are as follows:
Wherein, MT、CT、KTRespectively track quality, damping, stiffness matrix,XTIt (t) is respectively track
Acceleration, speed, transposed matrix, FTIt (t) is dynamic excitation.
Step 3. establishes pantograph-body powered model using many-body dynamics method.Its kinetics equation can be direct
It is write out according to the topological structure of Fig. 1:
Wherein, MV、CV、KVRespectively bow-Che Zhiliang, damping, stiffness matrix,XVIt (t) is respectively bow-
Vehicle acceleration, speed, transposed matrix, FVIt (t) is dynamic excitation；
2, bow net contact model is constructed using penalty function method:
Wherein, KSFor bow net contact rigidity, y1(t) pantograph collector head is displaced, ycIt (t) is contact line contact point vertical deviation,
fc(t) it is bow net contact power, Wheel-rail contact model is constructed according to Hertz theory:
Wherein G is hertz constant, fwjIt (t) is the contact force of j-th of wheel and track；wr(xwj, t) be contact point track
Displacement, ZwjIt (t) is the vertical deviation of j-th of wheel；w0It (t) is staticaccelerator track irregularity.
3, bow-net-vehicle-rail complicated coupling dynamic system is solved by method of value solving.In each time
Iterative algorithm in step is as follows:
(1) according to running velocity v and current time t, the contact point of bow net and wheel track is determined；
(2) according to bow-vehicle transposed matrix XV(t) and track displacement matrix XT(t), the displacement Z of each wheel is determinedwj(t)
With the track displacement w of contact pointr(xwj, t),
(3) active force f between track is calculated by Wheel-rail contact model shown in formula (6)wj(t)；
(4) simultaneous equations (1), (5-6) couple bow-net-vehicle Coupling Dynamic Model, and by wheel track obtained in step 3
Power fwj(t) it is applied in bow-net-vehicle system and calculates contact net response XC(t) and pantograph-car body responds XV(t)；
(5) X is responded according to car bodyV(t) with track displacement matrix XT(t), the Wheel-rail contact model of convolution (6), more new car
Active force f between railwj(t)；
(6) track active force is applied to model trajectory, calculates track and responds XT(t), and judge convergence: XT(t) < ε
It is whether true? if so, then enter future time and walks, return step 2 if invalid.
It can be seen that separated modeling method different from the past from main contents of the invention, the present invention establishes completely
Bow-net-vehicle-rail couple Vertical Kinetics Model, and give its iterative solution method.The method of the present invention is able to carry out high speed
Railway pantograph-contact net-car body-big system modeling and simulation of track vertical coupled, the phase being able to reflect between bow net and track
Mutual coupling effect, can consider the rough non-linear spy such as bow net contact, Wheel Rail Contact and dropper different working condition simultaneously
Property.
Detailed description of the invention
Fig. 1 is bow-net-vehicle-rail vertical coupled model schematic
Fig. 2 is bow net contact power calculated result figure
Fig. 3 is pantograph collector head displacement diagram
Fig. 4 is contact line contact point displacement diagram
Specific embodiment
Elaborate with reference to the accompanying drawing to the embodiment of the present invention: the present embodiment before being with technical solution of the present invention
It puts and is implemented, give detailed implementation process, but protection scope of the present invention is not limited to following embodiments.
The present embodiment is to design train running speed as the Beijing-Tianjin railway contact line and DSA380 type pantograph of 350Km/h
Example, contact net and pantograph parameters both originate from document [Dynamic performance of pantograph/overhead
Line interaction for 4span overlaps-TPS/OCS portion.SIEMENS, 2006:4-21.], track
Parameter is derived from document [Zhai Wanming, vehicle orbit coupling dynamics .2007.], and track irregularity parameter chooses U.S. AAR1-6 grades
Track spectrum, emulation speed are chosen for 350km/h.Using emulation mode proposed by the present invention to high-speed railway bow-net-vehicle-rail
Dynamic response carries out simulation calculation.
First, in accordance with 1) step in description and claims, step 1, using Euler Bernoulli Jacob beam element simulating contact line and
Carrier cable, parameter choose Beijing-Tianjin inter-city contact net, and according to finite element method assembling quality and stiffness matrix, dynamics side
Journey are as follows:
Wherein, MT、CT、KTRespectively track quality, damping, stiffness matrix,XTIt (t) is respectively track
Acceleration, speed, transposed matrix, FTIt (t) is dynamic excitation.
Then according to 1 step 2 in 1) step, model trajectory, kinetics equation are established by mode superposition method are as follows:
Wherein, MT、CT、KTRespectively track quality, damping, stiffness matrix,XTIt (t) is respectively track
Acceleration, speed, transposed matrix, FTIt (t) is dynamic excitation.
According still further to step 3 and Fig. 1 in 1), bow-vehicle dynamics model is established:
Wherein, MV、CV、KVRespectively bow-Che Zhiliang, damping, stiffness matrix,XVIt (t) is respectively bow-
Vehicle acceleration, speed, transposed matrix, FVIt (t) is dynamic excitation；
Then, track and bow net contact model are established respectively according to method in 2) step, the correlation between constraint equation,
The size of hertz constant G is chosen forWherein r is radius of wheel；Contact stiffness KSIt is chosen for 82300N/
m。
Finally whole bow-net-vehicle-rail system is solved according to the integral algorithm in 3).Fig. 2 lists bow net contact
The calculated result of power, Fig. 3 list pantograph Uplifting amount, and Fig. 4 lists the displacement of contact line contact point.It can be with from this three width figure
Can be clearly seen is influenced very big, wherein AAR1 orbital plane matter using the method for the present invention calculated bow net response by track quality
The lower fluctuation of amount is maximum, and fluctuates under AAR6 orbital plane quality minimum.
Claims (1)
1. a kind of high-speed railway bow-big system dynamic modeling emulation mode of net-vehicle-rail vertical coupled, considers bow net at the same time
High-speed railway is carried out in the case where contact, Wheel Rail Contact and the rough nonlinear characteristic influence factor of dropper different working condition
Pantograph-contact net-car body-big the system modeling and simulation of track vertical coupled, to reflect intercoupling between bow net and track
Effect, comprises the following specific steps that:
1) contact net, bow-vehicle, dynamics of orbits model, are established respectively；
Step 1. establishes contact net kinetic model using finite element method, and kinetics equation indicates are as follows:
Wherein, MC、CC、KCRespectively contact net quality, damping, stiffness matrix,XCIt (t) is respectively contact net
Acceleration, speed, transposed matrix, FC(x, t) is dynamic excitation；
Using mode, method establishes dynamics of orbits model to step 2. respectively, and kinetics equation may be expressed as:
Wherein, MT、CT、KTRespectively track quality, damping, stiffness matrix,XTIt (t) is respectively that track accelerates
Degree, speed, transposed matrix, FTIt (t) is dynamic excitation；
Step 3. establishes pantograph-body powered model using many-body dynamics method, and kinetics equation indicates are as follows:
Wherein, MV、CV、KVRespectively bow-Che Zhiliang, damping, stiffness matrix,XVIt (t) is respectively bow-Che Jia
Speed, speed, transposed matrix, FVIt (t) is dynamic excitation；
2) bow net, track contact model, are constructed respectively
Step 1. constructs bow net contact model using penalty function method:
Wherein, KSFor bow net contact rigidity, y1(t) pantograph collector head is displaced, ycIt (t) is contact line contact point vertical deviation, fc(t)
For bow net contact power,
Step 2. constructs Wheel-rail contact model according to Hertz theory:
Wherein G is hertz constant, fwjIt (t) is the contact force of j-th of wheel and track；wr(xwj, t) be contact point track position
It moves, ZwjIt (t) is the vertical deviation of j-th of wheel；w0It (t) is staticaccelerator track irregularity；xwjContact for j-th of wheel with track
Point；
3), bow-net-vehicle-rail complicated coupling dynamic system is solved by method of value solving, in each time step
Iterative algorithm it is as follows:
(1) contact point of bow net and wheel track is determined according to running velocity and current time；
(2) active force f between track is calculated by Wheel-rail contact modelwj(t)；
(3) bow net coupling model catenet-bow-vehicle system is used, and wheel rail force is applied to calculate in bow-net-vehicle system and is connect
Touch net response XC(t) and pantograph-car body responds XV(t)；
(4) X is responded according to pantograph-car bodyV(t) and Wheel-rail contact model updates active force f between trackwj(t)；
(5) track active force is applied to model trajectory, calculates track and responds XT(t), and judge convergence, if meeting into
Enter future time step, return step (2) if being unsatisfactory for；
4) the above simulation result, is input to display or subsequent processing device.
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| CN107315859B (en) * | 2017-06-07 | 2019-08-20 | 西南交通大学 | A high-speed train car-network model establishment method considering the influence of pantograph-catenary secondary arcing |
| CN107609213B (en) * | 2017-08-03 | 2020-07-17 | 西南交通大学 | Static balance-based contact network clue three-dimensional dynamic modeling method |
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| CN108133096B (en) * | 2017-12-20 | 2021-04-09 | 大连交通大学 | Dynamic reliability prediction method of coupler based on MBD and SVM |
| CN110362786B (en) * | 2019-06-14 | 2023-03-14 | 西南交通大学 | Decoupling modeling method for dynamic response analysis of high-speed railway bow-net coupling system |
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| CN111625975B (en) * | 2020-04-29 | 2023-12-01 | 中铁工程设计咨询集团有限公司 | Bow net dynamics performance determining method and system |
| CN113255195B (en) * | 2021-07-02 | 2021-10-08 | 成都国佳电气工程有限公司 | Contact net finite element modeling method considering actual measurement distributed damping |
| CN114218828B (en) * | 2021-12-09 | 2024-09-10 | 西南交通大学 | Dynamic behavior simulation method of pantograph rigid catenary system based on linear superposition |
| CN115099010B (en) * | 2022-06-06 | 2024-03-29 | 西南交通大学 | A simulation modeling method for small structure height catenary system |
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