CN110155101A - Laterally full active control vibration insulating system and the wherein control method of controller - Google Patents
Laterally full active control vibration insulating system and the wherein control method of controller Download PDFInfo
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- CN110155101A CN110155101A CN201910411319.6A CN201910411319A CN110155101A CN 110155101 A CN110155101 A CN 110155101A CN 201910411319 A CN201910411319 A CN 201910411319A CN 110155101 A CN110155101 A CN 110155101A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/22—Guiding of the vehicle underframes with respect to the bogies
- B61F5/24—Means for damping or minimising the canting, skewing, pitching, or plunging movements of the underframes
- B61F5/245—Means for damping or minimising the canting, skewing, pitching, or plunging movements of the underframes by active damping, i.e. with means to vary the damping characteristics in accordance with track or vehicle induced reactions, especially in high speed mode
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Abstract
The embodiment of the present invention provides a kind of full active control vibration insulating system of transverse direction and the wherein control method of controller, this method comprises: obtaining the moving parameter information and line information of car body into after active damping mode；The control force signal of full active damper is obtained using the control algolithm to match with line information based on moving parameter information；Control force signal is sent to full active damper, so that full active damper generates corresponding damping force according to control force signal.The embodiment of the present invention is by generating corresponding control force signal according to moving parameter information and line information, so that full active damper generates corresponding damping force, the control performance of the different motion state of different routes and vehicle is fully considered, it can be in the damping force of the different full active dampers of operating condition automatic adjusument, it is able to solve the rolling vehicle phenomenon of rail vehicle under a variety of operating conditions, improves the comfort level of vehicle.
Description
Technical field
The present invention relates to field of track traffic, more particularly, to a kind of full active control vibration insulating system of transverse direction and wherein
The control method of controller.
Background technique
High-speed EMUs is frequently subjected to the factors such as track excitation and beam wind excitation in operation, and above-mentioned factor can cause high speed
Multiple unit train body resonance, so that yawing, traversing vibration occur, set one's heart the rolling vehicle phenomenon such as pendular oscillation and lower heart pendular oscillation, seriously
Influence the comfort level of motor-car.Damper in the prior art is usually passive damper, caused by such damper
Damping force is usually uncontrollable, and needs different damping forces to be just avoided that rolling vehicle under different operation conditions, therefore existing
There is the passive damper in technology not and can solve rolling vehicle phenomenon.
Summary of the invention
To solve the above-mentioned problems, the embodiment of the present invention provides one kind and overcomes the above problem or at least be partially solved
State laterally the active control vibration insulating system and the wherein control method of controller entirely of problem.
According to a first aspect of the embodiments of the present invention, a kind of control of controller in the full active control vibration insulating system of transverse direction is provided
Method processed, this method comprises: into the moving parameter information for after active damping mode or half active damping mode, obtaining car body and
Line information；Based on the moving parameter information, using the control algolithm to match with the line information, acquisition actively subtracts entirely
The control force signal of vibration device；Corresponding damping force is generated according to the control force signal.
Second aspect according to embodiments of the present invention, provides a kind of full active control vibration insulating system of transverse direction, which includes:
Controller, full active damper and sensor；Controller is used to execute the laterally full active control that above-mentioned first aspect provides and subtracts
The control method of controller in vibrating system；Full active damper is set between car body centrepin and framework；Sensor includes cross
To vibration acceleration sensor, Vertical Acceleration sensor and displacement sensor；Wherein, lateral vibration acceleration sensor
It is set to an end and the "A" end of car of car body, lateral vibration acceleration sensor is used to measure the lateral vibration acceleration of car body；
Wherein, Vertical Acceleration sensor is set on the car body near sky spring, and Vertical Acceleration sensor is for measuring
The Vertical Acceleration of car body；Wherein, displacement sensor is built in full active damper, and displacement sensor is used for collecting vehicle
Relative displacement information between body and framework；Controller further include car body yaw motion solver, car body sidewinder movement solver,
Car body transverse motion solver and body frame relative displacement solver；Wherein, car body yaw motion solver is used for according to cross
Car body is obtained to vibration acceleration to shake the head acceleration；Wherein, car body sidewinders movement solver and is used for according to Vertical Acceleration
It obtains car body and sidewinders acceleration；Wherein, car body transverse motion solver according to lateral vibration acceleration and vertical vibration for adding
Speed obtains the traversing acceleration of car body；Wherein, body frame relative displacement solver is used to obtain the phase between car body and framework
To displacement information.
According to a third aspect of the embodiments of the present invention, a kind of rail vehicle is provided, which includes above-mentioned second aspect
The laterally full active control vibration insulating system of offer.
According to a fourth aspect of the embodiments of the present invention, a kind of electronic equipment, including memory, processor and storage are provided
On a memory and the computer program that can run on a processor, processor is realized various such as first aspect when executing program
Controller in lateral full active control vibration insulating system provided by any possible implementation in possible implementation
Control method.
According to a fifth aspect of the embodiments of the present invention, a kind of non-transient computer readable storage medium is provided, is deposited thereon
Computer program is contained, is realized in the various possible implementations such as first aspect when which is executed by processor
The control method of controller in lateral full active control vibration insulating system provided by any possible implementation.
The full active control vibration insulating system of transverse direction provided in an embodiment of the present invention and the wherein control method of controller, pass through root
Corresponding control force signal is generated according to moving parameter information and line information, so that full active damper generates corresponding damping
Power has fully considered the control performance of the different motion state of different routes and vehicle, can be adaptive in different operating conditions
The damping force that full active damper should be adjusted is able to solve the rolling vehicle phenomenon of rail vehicle under a variety of operating conditions, improves
The comfort level of vehicle.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 control method of controller for the full active control vibration insulating system of transverse direction provided in an embodiment of the present invention and wherein
Flow diagram；
Fig. 2 is the layout drawing of the full active control vibration insulating system of transverse direction provided in an embodiment of the present invention；
Fig. 3 is the left view of the full active control vibration insulating system of transverse direction provided in an embodiment of the present invention；
Fig. 4 is the B-B view of the full active control vibration insulating system of transverse direction provided in an embodiment of the present invention；
Fig. 5 be another embodiment of the present invention provides laterally full active control vibration insulating system and the wherein controlling party of controller
The flow diagram of method；
Fig. 6 is the entity structure schematic diagram of electronic equipment provided in an embodiment of the present invention.
In figure, 1: full active damper；2: full active damper；3: full active damper；4: full active damper；5: in
Heart pin；6: centrepin；7: framework；8: control cabinet；9: lateral vibration acceleration sensor；10: lateral vibration acceleration sensor；
11: displacement sensor；12: displacement sensor；13: displacement sensor；14: displacement sensor；15: acceleration transducer；16: adding
Velocity sensor；17: Vertical Acceleration sensor；18: Vertical Acceleration sensor；19: Vertical Acceleration
Sensor；20: Vertical Acceleration sensor.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention is explicitly described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of control method of controller in the full active control vibration insulating system of transverse direction, and this method can
It is executed by the controller in the laterally full active control vibration insulating system of rail vehicle.Referring to Fig. 1, this method includes but is not limited to such as
Lower step:
Step 101, into after active damping mode, obtain the moving parameter information and line information of car body.
Specifically, the controller laterally in full active control vibration insulating system can be at various control mode, such as actively subtract
Vibration mode, half active damping mode and passive vibration reducing mode.After controller enters active damping mode, controller can be obtained
The moving parameter information and line information of car body.Wherein, moving parameter information is to be able to reflect the parameter of vehicle movement situation, example
It such as include vibration parameters and acceleration parameter, the embodiment of the present invention is not construed as limiting the concrete type of moving parameter information.It can
After sensor by being set to car body obtains moving parameter information, moving parameter information is sent to controller by sensor.
The case where route that line information reflection vehicle is travelled, curvature, superelevation, the position of vehicle on the line for example including route
Etc. information.Line information can transfer by gyroscope, road surface beacon or from system the modes such as the line information surveyed in advance and obtain
?.
Step 102 is based on moving parameter information, and using the control algolithm to match with line information, acquisition actively subtracts entirely
The control force signal of vibration device.
It specifically, in a step 102, first can base after obtaining moving parameter information and line information in a step 101
The control algolithm to match with the line information is obtained in line information.Specifically, when vehicle operates in different types of route
When, the requirement to vibration damping is different, and is that controller sets different operating modes so as to be directed to different routes in advance, no
Same operating mode corresponds to different control algolithms.Such as it in rectilinear orbit and is travelled in curve rail for vehicle driving
When road, different control algolithms can be set separately.After operating mode has been determined, corresponding control algolithm can be used, based on fortune
Dynamic parameter information solves the control force signal of full active damper.It should be noted that the quantity of full active damper can be with
For one or more, different full active dampers may be disposed at the different location of car body, and controller can be respectively each
Full active damper calculates corresponding control force signal.
Control force signal is sent to full active damper by step 103, so that full active damper is according to control force signal
Generate corresponding damping force.
It specifically, will be each after controller has calculated each control force signal of active damper entirely in a step 102
Control force signal is sent to corresponding full active damper, and control force signal can be converted into solenoid valve by full active damper
Control signal, and the control signal based on solenoid valve controls the opening and closing of solenoid valve, thus generate corresponding damping force F=
FA+FBWith the vibration for car body of decaying；Wherein, control force signal is analog signal, and the control signal of solenoid valve is current signal.
The control method of controller in the full active control vibration insulating system of transverse direction provided in an embodiment of the present invention, by according to fortune
Dynamic parameter information and line information generate corresponding control force signal and fill so that full active damper generates corresponding damping force
Divide the control performance for considering the different motion state of different routes and vehicle, it can be in different operating condition automatic adjusuments
The damping force of full active damper, the rolling vehicle phenomenon of rail vehicle is able to solve under a variety of operating conditions, improves vehicle
Comfort level.
Content based on the above embodiment, as a kind of alternative embodiment, moving parameter information includes: car body acceleration letter
Relative displacement information between breath, body speed of vehicle information and car body and framework；Wherein, car body acceleration information includes: car body
Shake the head acceleration, car body sidewinders acceleration and the traversing acceleration of car body；Body speed of vehicle information includes: that car body is shaken the head speed, car body
Sidewinder speed and car body transverse moving speed.
Specifically, different types of sensor can be set at different location on the car body, is transported by sensor
Dynamic parameter information.Wherein, sensor may include that lateral vibration acceleration sensor, Vertical Acceleration sensor and displacement pass
Sensor.Wherein, lateral vibration acceleration sensor is set to an end and the "A" end of car of car body, lateral vibration acceleration sensor
For measuring the lateral vibration acceleration of car body；Wherein, Vertical Acceleration sensor is set on the car body near sky spring,
Vertical Acceleration sensor is used to measure the Vertical Acceleration of car body；Wherein, displacement sensor is built in full active
In damper, displacement sensor is used to acquire the relative displacement information between car body and framework.
The sensor is by collected vibration signal (including lateral vibration acceleration and Vertical Acceleration) and position
Shifting signal, low-pass filtered processing are converted after filtering out HF noise signal through A/D, and controller is transferred to.Controller can be based on upper
State vibration signal and displacement signal solve the traversing acceleration of car body and speed, sidewinder acceleration and speed, shake the head acceleration and
The relative displacement information of speed and car body and framework.
Wherein, referring to fig. 2 to Fig. 4, controller can be according to the measured value ah_9 and transverse direction of lateral vibration acceleration sensor 9
The measured value ah_10 of vibration acceleration sensor 10, the acceleration aY that shakes the head of the car body of acquisition are as follows:
Controller can measured value av_17, Vertical Acceleration sensor according to Vertical Acceleration sensor 17
18 measured value av_18, the measured value av_19 of Vertical Acceleration sensor 19 and Vertical Acceleration sensor 20
Measured value av_20, the car body of acquisition sidewinder acceleration aR are as follows:
Controller can measured value ah_9, lateral vibration acceleration sensor 10 according to lateral vibration acceleration sensor 9
Measured value ah_10, Vertical Acceleration sensor 17 measured value av_17, Vertical Acceleration sensor 18 survey
The measured value of magnitude av_18, the measured value av_19 of Vertical Acceleration sensor 19 and Vertical Acceleration sensor 20
Av_20, the traversing acceleration aL of the car body of acquisition are as follows:
The relative displacement dy of car body and framework can be acquired by built-in displacement sensor 11~14.
Content based on the above embodiment, as a kind of alternative embodiment, control algolithm is determined as follows: if root
Judge that car body is travelled in rectilinear orbit according to line information, then control algolithm is that ceiling Algorithm of Active Control or H ∞ active control are calculated
Method；If judging that the car body is travelled in curve track according to the line information, the control algolithm is the first superposing control
Algorithm or the second superposing control algorithm, wherein the first superposing control algorithm is ceiling Algorithm of Active Control and car body centering
The superposing control algorithm of HOD is controlled, the second superposing control algorithm is that H ∞ Algorithm of Active Control and car body centering control HOD
Superposing control algorithm.
Content based on the above embodiment is calculated as a kind of alternative embodiment using the control to match with line information
Method obtains the control force signal of full active damper, further includes: if judging car body in easement curve track row according to line information
It sails, closes controller.
Content based on the above embodiment obtains car body into after active damping mode as a kind of alternative embodiment
Before moving parameter information and line information, further includes: if judgement knows that the speed of service of car body is greater than threshold speed, enter
The active damping mode or the half active damping mode；Otherwise, into passive vibration reducing mode.
Specifically, referring to Fig. 5, above-mentioned different operating mode is illustrated:
When vehicle rectilinear orbit when driving, if the speed of service be less than preset threshold speed VIfWhen, then controller
Into passive vibration reducing mode；If the speed of service is greater than threshold speed VIfWhen, then controller automatically switches to active damping mode.Separately
Outside, when any failure occurs for Active vibration-reducing system or Vehicular system, Active vibration-reducing system can according to the program of default,
Controller automatically switches to passive vibration reducing mode, to guarantee traffic safety.Also, full active damper can have Three models:
Active damping mode, half active damping mode and passive vibration reducing mode.Switching between different modes is controlled by controller
System.Wherein, when running velocity is less than preset threshold speed VIfWhen, full active damper is in passive vibration damping mould
Formula；And when running velocity is greater than preset threshold speed VIfWhen, full active damper may be at active damping mould
Formula or half active damping mode, and which kind of mode to be specifically to predefine well in.
Under active damping mode (or half active damping mode), if vehicle still travels on rectilinear orbit, only make
With ceiling Algorithm of Active Control or H ∞ Algorithm of Active Control；When detecting that vehicle enters easement curve by straight line, temporarily close
Control system is closed, prevents control system output control force from increase car body and bogie relative displacement, car body is caused to encounter stop
Lower comfort level.When detecting vehicle from easement curve arrival curve, Algorithm of Active Control is opened, uses day in such a mode
Canopy Algorithm of Active Control or H ∞ Algorithm of Active Control and car body centering control (HOD) superposing control.
Wherein, the control force signal B of car body centering control can be acquired according to the following formula.
In formula: mbFor car body weight, aLlIt is the actual measurement traversing acceleration signal of car body through filtered low frequency signal.
Content based on the above embodiment is calculated as a kind of alternative embodiment using the control to match with line information
Method obtains the control force signal of full active damper, further includes: obtains driving direction, and according to the driving direction to described
Control algolithm is modified；Wherein, the driving direction includes forward travel and backward going, and the control algolithm includes:
One in one superposing control algorithm and the second superposing control algorithm and ceiling Algorithm of Active Control and H ∞ Algorithm of Active Control
In one.Wherein, the mode of driving direction is obtained specifically: value of statistical indicant is determined according to preset driving direction, wherein
Value of statistical indicant takes 1 as forward travel, and it is backward going that value, which is 0,.Controller can repair above-mentioned control algolithm according to value of statistical indicant
Just.
The embodiment of the invention provides a kind of full active control vibration insulating system of transverse direction, the lateral full active control vibration insulating systems
In controller be used to execute the control method of controller in the laterally full active control vibration insulating system in above method embodiment.
Referring to fig. 2, Fig. 3, Fig. 4 and Fig. 6, the system include: controller, full active damper and sensor.
Controller is used to execute the control such as controller in the full active control vibration insulating system of transverse direction provided by the above embodiment
The possible implementation of any one of method.
Full active damper (i.e. component 1,2,3 and 4) is set between car body centrepin 5 and framework 7.Controller calculates
After the control force signal of each full active damper, each control force signal is sent to corresponding full active damper.
Control force signal can be converted into the control signal of solenoid valve by full active damper, and the control signal based on solenoid valve is to electromagnetism
The opening and closing of valve is controlled, to generate corresponding damping force F=FA+FBWith the vibration for car body of decaying；Wherein, force signal is controlled
It is analog signal, the control signal of solenoid valve is current signal.
Sensor includes lateral vibration acceleration sensor, Vertical Acceleration sensor and displacement sensor.
Wherein, lateral vibration acceleration sensor (i.e. component 9 and 10) is set to an end and the "A" end of car of car body, laterally
Vibration acceleration sensor is used to measure the lateral vibration acceleration of car body.
Wherein, Vertical Acceleration sensor (i.e. component 17,18,19 and 20) is set on the car body near sky spring,
Vertical Acceleration sensor is used to measure the Vertical Acceleration of car body.
Wherein, displacement sensor (i.e. component 11,12,13 and 14) is built in full active damper, and displacement sensor is used
Relative displacement information between acquisition car body and framework.
In addition, acceleration transducer 15 and acceleration transducer 16 are set on the framework of front and back；Component 8 is control cabinet.
Controller further includes that car body yaw motion solver, car body sidewinder movement solver, car body transverse motion solver
With body frame relative displacement solver.
Wherein, car body yaw motion solver is used for acceleration of shaking the head according to lateral vibration acceleration acquisition car body.Specifically
Ground, car body yaw motion solver can be according to the measured value ah_9 and lateral vibration acceleration of lateral vibration acceleration sensor 9
The measured value ah_10 of sensor 10, the acceleration aY that shakes the head of the car body of acquisition are as follows:
Wherein, car body sidewinders movement solver and is used to sidewinder acceleration according to Vertical Acceleration acquisition car body.Specifically
Ground, car body sidewinders movement solver can be according to measured value av_17, the Vertical Acceleration of Vertical Acceleration sensor 17
The measured value av_18 of sensor 18, the measured value av_19 of Vertical Acceleration sensor 19 and Vertical Acceleration sensing
The measured value av_20 of device 20, the car body of acquisition sidewinder acceleration aR are as follows:
Wherein, car body transverse motion solver is used to obtain car body according to lateral vibration acceleration and Vertical Acceleration
Traversing acceleration.Specifically, car body transverse motion solver can according to the measured value ah_9 of lateral vibration acceleration sensor 9,
The measured value av_17, vertical of the measured value ah_10 of lateral vibration acceleration sensor 10, Vertical Acceleration sensor 17
The measured value av_18 of vibration acceleration sensor 18, the measured value av_19 of Vertical Acceleration sensor 19 and vertical vibration
The measured value av_20 of acceleration transducer 20, the traversing acceleration aL of the car body of acquisition are as follows:
Wherein, body frame relative displacement solver is used to obtain the relative displacement information between car body and framework.Specifically
It is acquired by the measured value of built-in displacement sensor 11~14.
The full active control vibration insulating system of transverse direction provided in an embodiment of the present invention is set using damper and control system separation
Meter, improves the reliability of system；In Control System Design, while considering the control performance of rectilinear orbit and curve track,
Improve the comfort level of bullet train；Also, solves bullet train by track irregularity excitation and beam wind excitation etc.
Car body yawing caused by factor, sets one's heart pendular oscillation and lower heart pendular oscillation etc. at traversing vibration, overcomes traditional passive vibration damping
The problem of device cannot be according to line conditions self-adaption regulation system parameter.The present invention can effectively improve bullet train in difference
The comfort level run on route.
The embodiment of the present invention also provides a kind of rail vehicle, including the full active control vibration damping of transverse direction provided by the above embodiment
System.
The embodiment of the invention provides a kind of electronic equipment, as shown in fig. 6, the equipment includes: processor (processor)
501, communication interface (Communications Interface) 502, memory (memory) 503 and communication bus 504,
In, processor 501, communication interface 502, memory 503 completes mutual communication by communication bus 504.Processor 501 can
To call the computer program that can be run on memory 503 and on processor 501, to execute the cross of the various embodiments described above offer
The control method of controller into full active control vibration insulating system, for example, after entering active damping mode, obtain car body
Moving parameter information and line information；It is obtained complete based on moving parameter information using the control algolithm to match with line information
The control force signal of active damper；Control force signal is sent to full active damper, so that full active damper is according to control
Force signal processed generates corresponding damping force.
In addition, the logical order in above-mentioned memory 503 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.Based on this understanding, originally
Substantially the part of the part that contributes to existing technology or the technical solution can be in other words for the technical solution of invention
The form of software product embodies, which is stored in a storage medium, including some instructions to
So that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation of the present invention
The all or part of the steps of example method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
The embodiment of the present invention also provides a kind of non-transient computer readable storage medium, is stored thereon with computer program,
The computer program is implemented to carry out the laterally full active control vibration insulating system of the various embodiments described above offer when being executed by processor
The control method of middle controller, for example, after entering active damping mode, obtain the moving parameter information and route letter of car body
Breath；The control force letter of full active damper is obtained using the control algolithm to match with line information based on moving parameter information
Number；Control force signal is sent to full active damper, so that full active damper generates corresponding resistance according to control force signal
Buddhist nun's power.
The embodiments such as electronic equipment described above are only schematical, wherein unit as illustrated by the separation member
It may or may not be physically separated, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Certain Part Methods of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. the control method of controller in a kind of full active control vibration insulating system of transverse direction characterized by comprising
Into after active damping mode or half active damping mode, the moving parameter information and line information of car body are obtained；
Full active damper is obtained using the control algolithm to match with the line information based on the moving parameter information
Control force signal；
The control force signal is sent to the full active damper, so that the full active damper is according to the control force
Signal generates corresponding damping force.
2. the control method of controller in the full active control vibration insulating system of transverse direction according to claim 1, which is characterized in that
The moving parameter information includes: the relative displacement between car body acceleration information, body speed of vehicle information and car body and framework
Information；
Wherein, the car body acceleration information includes: that shake the head acceleration, car body of car body sidewinders acceleration and the traversing acceleration of car body
Degree；The body speed of vehicle information includes: that shake the head speed, car body of car body sidewinders speed and car body transverse moving speed.
3. the control method of controller in the full active control vibration insulating system of transverse direction according to claim 1, which is characterized in that
The control algolithm is determined as follows:
If judging that the car body is travelled in rectilinear orbit according to the line information, the control algolithm is ceiling active control
Algorithm or H ∞ Algorithm of Active Control；
If judging that the car body is travelled in curve track according to the line information, the control algolithm is the first superposing control
Algorithm or the second superposing control algorithm, wherein the first superposing control algorithm is ceiling Algorithm of Active Control and car body centering
The superposing control algorithm of HOD is controlled, the second superposing control algorithm is that H ∞ Algorithm of Active Control and car body centering control HOD
Superposing control algorithm.
4. the control method of controller in the full active control vibration insulating system of transverse direction according to claim 3, which is characterized in that
Using the control algolithm to match with the line information, the control force signal of full active damper is obtained, further includes:
If judging that the car body in easement curve rail running, closes controller according to the line information.
5. the control method of controller in the full active control vibration insulating system of transverse direction according to claim 1, which is characterized in that
After the entrance active damping mode, before the moving parameter information and the line information that obtain car body, further includes:
If judgement knows that the speed of service of car body is greater than threshold speed, enters the active damping mode or described partly actively subtract
Vibration mode；Otherwise, into passive vibration reducing mode.
6. the control method of controller in the full active control vibration insulating system of transverse direction according to claim 3, which is characterized in that
Using the control algolithm to match with the line information, the control force signal of full active damper is obtained, further includes:
Driving direction is obtained, and the control algolithm is modified according to the driving direction；Wherein, the driving direction packet
Forward travel and backward going are included, the control algolithm includes: in the first superposing control algorithm and the second superposing control algorithm
One in one and ceiling Algorithm of Active Control and H ∞ Algorithm of Active Control.
7. a kind of full active control vibration insulating system of transverse direction characterized by comprising controller, full active damper and sensor；
The controller is for executing controller in the full active control vibration insulating system of transverse direction as claimed in any one of claims 1 to 6
Control method；
The full active damper is set between car body centrepin and framework；
The sensor includes lateral vibration acceleration sensor, Vertical Acceleration sensor and displacement sensor；
Wherein, the lateral vibration acceleration sensor is set to an end and the "A" end of car of car body, and the oscillation crosswise accelerates
Degree sensor is used to measure the lateral vibration acceleration of car body；
Wherein, the Vertical Acceleration sensor is set on the car body near sky spring, and the Vertical Acceleration passes
Sensor is used to measure the Vertical Acceleration of car body；
Wherein, institute's displacement sensors are built in the full active damper, institute's displacement sensors for acquire car body with
Relative displacement information between framework；
The controller further includes that car body yaw motion solver, car body sidewinder movement solver, car body transverse motion solver
With body frame relative displacement solver；
Wherein, the car body yaw motion solver is used for acceleration of shaking the head according to lateral vibration acceleration acquisition car body；
Wherein, the car body sidewinders movement solver and is used to sidewinder acceleration according to Vertical Acceleration acquisition car body；
Wherein, the car body transverse motion solver is used for according to the lateral vibration acceleration and the Vertical Acceleration
Obtain the traversing acceleration of car body；
Wherein, the body frame relative displacement solver is used to obtain the relative displacement information between the car body and framework.
8. a kind of rail vehicle, which is characterized in that including laterally full active control vibration insulating system as claimed in claim 7.
9. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor is realized laterally complete as described in any one of claim 1 to 6 when executing described program
In active control vibration insulating system the step of the control method of controller.
10. a kind of non-transient computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer
Controller in the full active control vibration insulating system of the transverse direction as described in any one of claim 1 to 6 is realized when program is executed by processor
Control method the step of.
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