CN110667631B - Device and method for controlling abnormal shaking of vehicle body - Google Patents

Device and method for controlling abnormal shaking of vehicle body Download PDF

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Publication number
CN110667631B
CN110667631B CN201910880229.1A CN201910880229A CN110667631B CN 110667631 B CN110667631 B CN 110667631B CN 201910880229 A CN201910880229 A CN 201910880229A CN 110667631 B CN110667631 B CN 110667631B
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vehicle body
ksx
active control
bogie
shock absorber
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CN110667631A (en
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李凡松
吴昊
王勇
王帅
戴焕云
邬平波
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Southwest Jiaotong University
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Southwest Jiaotong University
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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 invention relates to a device and a method for controlling abnormal shaking of a vehicle body, comprising the following steps: the bogie comprises a vehicle body, bogies at the front end and the rear end of the vehicle body and an active control processor; the acceleration sensing system is arranged on the vehicle body and is electrically connected with the active control processor; the anti-snaking vibration reduction system is arranged between the vehicle body and the bogie and is electrically connected with the active control processor; and the vertical vibration reduction system is arranged between the bogie and the vehicle body and is electrically connected with the active control processor. The anti-snake vibration damping system and the vertical vibration damping system can eliminate the abnormal shaking phenomenon of the train body, increase the comfort of passengers and reduce the railway operation and maintenance cost.

Description

Device and method for controlling abnormal shaking of vehicle body
Technical Field
The invention relates to a device and a method for controlling abnormal shaking of a vehicle body.
Background
In the actual operation of domestic high-speed motor train units, the vehicle operation safety can be fully ensured, and the excellent operation quality can be kept in most operation lines and operation time. However, in some cases, some abnormal vibration may occur due to an abnormal wheel-rail contact relationship. For example, the wheels of the motor train unit need periodic maintenance, and generally, the wheel profile turning is performed every 15-30 kilometers of the motor train unit, that is, the profile after operation wear is turned again to the initial design profile, so as to ensure that the contact relationship between the wheel tracks is normal. Similarly, high-speed railway line rails also require grinding of the rail profile over a period of time. However, under certain conditions, if the contour of a track is abnormal, when wheels of a motor train unit are in the later period of a maintenance cycle, the track relationship is abnormally matched, a bogie has obvious snaking periodic motion, and the motion frequency is between 7 and 10Hz, so that low-order elastic modes, especially first-order diamond modes, of the motor train unit body can be excited, the motor train unit body has obvious shaking because the frequency of the first-order diamond modes is 8 to 10Hz, and if the structures such as seats, luggage racks and the like in a passenger room exist assembly gaps, abnormal vibration can cause the structures to rub or collide with other body structures, obvious noise is generated, the running quality is poor, the motor train unit body is a direct structure for carrying passengers, and the riding comfort of the passengers is directly reduced when the motor train body abnormally shakes. Therefore, the problem of how to control the abnormal shaking of the train body of the motor train unit is urgent.
Disclosure of Invention
The application provides a device and a method for controlling abnormal shaking of a train body, which solve the problem of shaking of the train body of a motor train unit in the prior art and eliminate the shaking phenomenon of the train body of the motor train unit.
The technical problem solved by the invention can be realized by adopting the following technical scheme:
a device for controlling abnormal shaking of a vehicle body at least comprises the vehicle body and bogies at the front end and the rear end of the vehicle body,
an active control processor;
the acceleration sensing system is arranged on the vehicle body and is electrically connected with the active control processor;
the anti-snaking vibration reduction system is respectively arranged between the front and rear sides of the vehicle body and the bogie and is electrically connected with the active control processor;
and the vertical vibration reduction systems are respectively arranged between the front end and the rear end of the bogie and the vehicle body and are electrically connected with the active control processor.
The active control processor comprises a data acquisition module, a data analysis module and a data threshold judgment module, wherein the data acquisition module is electrically connected with the acceleration sensing system, the anti-snaking vibration reduction system and the vertical vibration reduction system.
The acceleration sensing system comprises a first acceleration sensor, a second acceleration sensor and a correction acceleration sensor, wherein the first acceleration sensor and the second acceleration sensor are respectively arranged in the longitudinal middle part of a left side beam and the longitudinal middle part of a right side beam of the vehicle body, the correction acceleration sensor is arranged on the transverse end part of a sleeper beam at one end of the vehicle body and can be arranged above the air spring, the first acceleration sensor, the second acceleration sensor and the correction acceleration sensor are respectively and electrically connected with the active control processor, and the first acceleration sensor, the second acceleration sensor and the correction acceleration sensor respectively test the vertical acceleration and the transverse acceleration of the longitudinal middle part of the left side beam, the longitudinal middle part of the right side beam and the transverse side edge of the sleeper beam of the vehicle body.
The anti-snaking vibration attenuation system comprises an anti-snaking vibration absorber, a first vibration attenuation seat and a second vibration attenuation seat, wherein the first vibration attenuation seat is connected with the lower surface of the vehicle body through a bolt, one end of the anti-snaking vibration absorber is hinged with the first vibration attenuation seat, the second vibration attenuation seat is fixed on the outer side surface of the lower part of the frame of the bogie, the second vibration attenuation seat is positioned on the lower side of the first vibration attenuation seat, the other end of the anti-snaking vibration absorber is hinged with the second vibration attenuation seat, and the anti-snaking vibration absorber is electrically connected with the active control processor.
The vertical vibration reduction system comprises a vertical vibration reducer, a third vibration reduction seat and a fourth vibration reduction seat, the third vibration reduction seat is connected with the vehicle body through bolts, one end of the vertical vibration reducer is hinged to the third vibration reduction seat, the fourth vibration reduction seat is fixed to the bottom end of the bogie frame, the fourth vibration reduction seat is located below the third vibration reduction seat, the other end of the vertical vibration reducer is hinged to the fourth vibration reduction seat, and the vertical vibration reducer is electrically connected with the active control processor.
A method for controlling abnormal shaking of a vehicle body comprises the device for controlling abnormal shaking of the vehicle body, and further comprises the following steps;
step one, the active control processor (3) acquires six horizontal and vertical vibration accelerations a in the middle of the left side beam, the middle of the right side beam and the sleeper beam in real time through the acceleration sensing systemL_Z(t)、aL_Y(t)、aR_Z(t)、aR_Y(t)、aB_Z(t)、aB_Y(t) and four anti-hunting damper loads F on both sides of the front and rear ends of the vehicle body (1)ksx_FL(t)、Fksx_FR(t)、Fksx_RL(t)、Fksx_RR(t) four vertical damper loads Fsv_FL(t)、Fsv_FR(t)、Fsv_RL(t)、Fsv_RR(t), Z and Y respectively represent the vertical direction and the transverse direction of the car body, L, R represents a left side beam measuring point and a right side beam measuring point, and B represents a sleeper beam correction acceleration measuring point; ksx for anti-hunting shock absorbers, sv for vertical shock absorbers and FL for front truck leftSide, FR represents the right side of the front bogie, RL represents the left side of the rear bogie, RR represents the right side of the rear bogie, t represents time, and the sampling frequency is fs during testing and is required to be 100Hz or above;
step two, on the basis of the step one, the active control processor (3) processes and records the real-time data obtained in the step one, and then judges whether the vehicle body (1) has abnormal jitter according to a judgment logic preset in the active control processor (3), wherein the specific processing and judgment process is as follows:
data preprocessing:
the active control processor carries out 1 time data processing every 0.5s, acceleration data with the length of 1s between t-1 time and t time is processed, namely the size of a data processing window is 1s, the slippage of the window is 0.5s, and the acceleration data is defined as aL_Z(n)、aL_Y(n)、aR_Z(n)、aR_Y(n)、aB_Z(n)、aB_Y(n), since the data length is 1s, the value of n is the sampling frequency value,
using a band-pass filter to the acceleration data aL_Z(n)、aL_Y(n)、aR_Z(n)、aR_Y(n)、aB_Z(n)、aB_Y(n) carrying out band-pass filtering at 5-12 Hz to obtain filtered acceleration data aL_Z_bp(n)、aL_Y_bp(n)、aR_Z_bp(n)、aR_Y_bp(n)、aB_Z_bp(n)、aB_Y_bp(n)；
And (3) judging the phase relation:
with aL_Z_bp(n)、aR_Z_bp(n) calculating the average slope k of the vertical acceleration of the left and right side beams of the vehicle body as an analysis objectZNamely:
Figure GDA0002653148600000031
in the same way, with aL_Y_bp(n)、aR_Y_bp(n) calculating the average slope k of the lateral acceleration of the left and right side beams of the vehicle body as an analysis objectYNamely:
Figure GDA0002653148600000032
when k is satisfiedZ<0，kY>When the vibration amplitude is 0, judging the vertical vibration opposite phases of the left and right side beams and the transverse vibration in the same phase, otherwise, stopping judging and waiting for the next judgment of 0.5 s;
and (3) threshold judgment:
when phase decision k is satisfiedZ<0，kY>0, and then performing threshold judgment to aL_Z_bp(n)、aR_Z_bp(n)、aL_Y_bp(n)、aR_Y_bp(n)、aB_Z_bp(n)、aB_Y_bp(n) extracting peak-to-valley values, then taking absolute values of the extracted peak-to-valley values, and calculating average values of the absolute values of the peak-to-valley values, which are respectively expressed as aL_Z_bp_mean_peak、
aL_Y_bp_mean_peak、aR_Z_bp_mean_peak、aR_Y_bp_mean_peak、aB_Z_bp_mean_peak、aB_Y_bp_mean_peakIf the following six criteria are met simultaneously, judging that the vehicle body has abnormal jitter, otherwise, stopping processing, and waiting for the next 0.5s for data processing, wherein the criteria are as follows:
Figure GDA0002653148600000033
when the vehicle body is judged to be abnormally shaken, an active control processor (3) sends an active control load signal to the anti-snake vibration absorber (6) and the vertical vibration absorber (9),
the active control load signal determination process comprises the following steps: extracting four anti-snaking shock absorber loads F with the length of 1s between t-1 time and t timeksx_FL(n)、Fksx_FR(n)、Fksx_RL(n)、Fksx_RR(n) and four vertical shock absorber loads Fsv_FL(n)、Fsv_FR(n)、Fsv_RL(n)、Fsv_RR(n)，
Acquiring load main frequency f of four anti-snaking shock absorbers through frequency domain FFT analysisksx_FL、fksx_FR、fksx_RL、fksx_RRBy obtaining four main frequencies f of the loadksx_FL、fksx_FR、fksx_RL、fksx_RRObtaining the average value f of the load dominant frequency of the anti-snaking shock absorberksxWhen the vehicle body shakes abnormally, the snaking motion of the front bogie (2) and the snaking motion of the rear bogie (2) are in opposite phases, in order to inhibit the abnormal shaking of the vehicle body, the snaking motion of the front bogie and the snaking motion of the rear bogie need to be controlled to be in the same phase, the loads of the left anti-snaking shock absorber and the right anti-snaking shock absorber of the front bogie need to lag 90 degrees, the loads of the left anti-snaking shock absorber and the right anti-snaking shock absorber of the rear bogie need to lead:
the lag and lead times τ, τ ═ 1/f are determinedksx) X 0.25s, the active control load signal sent to the anti-snake motion vibration damper (6) is Fksx_FL(t+τ)、Fksx_FR(t+τ)、Fksx_RL(t-τ)、Fksx_RR(t-τ)，
The active control load signal sent out by the vertical shock absorber in the same way is Fsv_FL(t+τ)、Fsv_FR(t+τ)、Fsv_RL(t-τ)、Fsv_RR(t-τ)；
Step three, the active control load signals sent out in the step two are respectively sent to anti-snake motion vibration dampers (6) and vertical vibration dampers (9) on the two sides of the front end and the rear end of the vehicle body (1), so that the loads of the left anti-snake motion vibration damper (6) and the right anti-snake motion damper (6) of the front end bogie (2) and the vertical vibration damper (9) are respectively delayed by 90 degrees of phase positions compared with the original loads, the loads of the left anti-snake motion damper (6) and the vertical vibration damper (9) of the rear end bogie (2) are respectively advanced by 90 degrees of phase positions compared with the original loads, the load amplitude value keeps the original amplitude value, the snake motion of the front bogie and the rear bogie in the same phase, frequency and amplitude value is realized, and the rolling motion of the front;
step four, after the active control load signal is sent out in the step three, the active control processor still judges according to the original every 0.5s, if the abnormal shake of the vehicle body is still judged, the active control load signal F of the anti-snaking shock absorber obtained at the last moment is continuously sent outksx_F(Lt+τ)、Fksx_FR(t+τ)、Fksx_RL(t-τ)、Fksx_RR(t-tau) and vertical shock absorber active control load signal Fsv_F(Lt+τ)、Fsv_FR(t+τ)、Fsv_RL(t-τ)、Fsv_RR(t-tau), if the vehicle body is judged not to have abnormal shaking, stopping sending the active control load signals to the anti-snaking shock absorber and the vertical shock absorber, recovering the original characteristics of the anti-snaking shock absorber and the vertical shock absorber, passively damping, clearing the sent active control load signals, and waiting for the next storage, thereby monitoring and controlling the abnormal shaking of the vehicle body repeatedly.
The invention has the beneficial effects that: the anti-snake vibration damping system and the vertical vibration damping system can eliminate the abnormal shaking phenomenon of the train body, increase the comfort of passengers and reduce the railway operation and maintenance cost.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a schematic view of the truck and anti-hunting and vertical damping systems of the present invention.
FIG. 3 is the vehicle body anti-hunting shock absorber attitude at the time of abnormal vehicle body hunting of the present invention.
FIG. 4 is a schematic diagram of the active control processor of the present invention.
In the figure: 1-a vehicle body; 2-a bogie; 3-an active control processor; 4-a first acceleration sensor; 5-a second acceleration sensor; 6-anti-hunting vibration dampers; 7-a first damping mount; 8-a second damping mount; 9-vertical shock absorber; 10-a third damping mount; 11-a fourth damping mount; 12-correct acceleration sensor.
Detailed Description
Example (b):
referring to fig. 1-4, which are schematic structural diagrams of the present invention, an apparatus for controlling abnormal vehicle body shaking at least comprises a vehicle body 1, bogies 2 at front and rear ends of the vehicle body, and an active control processor 3;
the acceleration sensing system is arranged on the vehicle body 1 and is electrically connected with the active control processor 3; the anti-snaking vibration reduction systems are respectively arranged between the front and rear sides of the vehicle body 1 and the bogie 2 and are electrically connected with the active control processor 3; and the vertical vibration reduction systems are respectively arranged between the front and rear sides of the vehicle body 1 and the bogie 2 and are electrically connected with the active control processor 3.
The active control processor 3 comprises a data acquisition module, a data analysis module and a data threshold judgment module, wherein the data acquisition module is electrically connected with the acceleration sensing system, the anti-snaking vibration reduction system and the vertical vibration reduction system.
The acceleration sensing system comprises a first acceleration sensor 4, a second acceleration sensor 5 and a correction acceleration sensor 12, wherein the first acceleration sensor 4 is arranged in the longitudinal middle of a left side beam of the vehicle body 1, the second acceleration sensor 5 is arranged in the longitudinal middle of a right side beam, the correction acceleration sensor 12 is arranged on the transverse end part of a sleeper beam at one end of the vehicle body 1, the first acceleration sensor 4, the second acceleration sensor 5 and the correction acceleration sensor 12 are respectively and electrically connected with the active control processor, and the first acceleration sensor 4, the second acceleration sensor 5 and the correction acceleration sensor 12 are respectively used for testing the vertical acceleration and the transverse acceleration of the longitudinal middle of the left side beam, the longitudinal middle of the right side beam and the transverse end part of the sleeper beam of the vehicle body 1.
The anti-snaking vibration attenuation system comprises an anti-snaking vibration absorber 6, a first vibration attenuation seat 7 and a second vibration attenuation seat 8, wherein the first vibration attenuation seat 7 is connected with the lower surface of the vehicle body 1 through bolts, one end of the anti-snaking vibration absorber 6 is hinged to the first vibration attenuation seat 7, the second vibration attenuation seat 8 is fixed on the outer side surface of the lower portion of the frame of the bogie 2, the second vibration attenuation seat 8 is located on the lower side of the first vibration attenuation seat 7, the other end of the anti-snaking vibration absorber 6 is hinged to the second vibration attenuation seat 8, and the anti-snaking vibration absorber 6 is electrically connected with the active control processor 3.
The vertical vibration damping system comprises a vertical vibration damper 9, a third vibration damping seat 10 and a fourth vibration damping seat 11, the third vibration damping seat 10 is connected with the vehicle body 1 through bolts, one end of the vertical vibration damper is hinged to the third vibration damping seat, the fourth vibration damping seat 11 is fixed to the bottom end of the bogie 2 framework, the fourth vibration damping seat 11 is located below the third vibration damping seat 10, the other end of the vertical vibration damper is hinged to the fourth vibration damping seat 11, and the vertical vibration damper 9 is electrically connected with the active control processor 3.
In actual use: vertical and lateral acceleration that 3 departments survey when removing of data test module and acceleration sensor system test automobile body 1 through active controller 3, then handle data and calculate through data analysis module, judge through data threshold value judge module whether take place unusual shake problem to automobile body 1 and judge that main thinking is: when the transverse acceleration of the middle parts of the left and right side beams of the automobile body 1 is in the same phase, the harmonic amplitude after 5-12 Hz band-pass filtering is higher than 0.08g, the duration time exceeds 1 second, the vertical acceleration of the middle parts of the left and right side beams of the automobile body 1 is in the opposite phase, the harmonic amplitude after 5-12 Hz band-pass filtering is higher than 0.08g, the duration time exceeds 1 second, and the test data of the acceleration sensor is corrected to provide the basis for judging whether the automobile body shakes for the active control processor 3, so that the judgment result is corrected, and the elastic resonance caused by the non-first-order rhombus mode is prevented from generating false. And finally, judging abnormal shaking of the car body when the judgment rule is met, and then sending active control load signals to the four anti-snaking vibration reduction systems and the four vertical vibration reduction systems between the car body 1 and the bogie 2 to control corresponding action amounts of each anti-snaking vibration reduction system and each vertical vibration reduction system so as to eliminate the abnormal shaking of the car body 1.
The specific principle is as follows: because the abnormal shaking of the train body 1 of the motor train unit is a cyclic reciprocating process, the embodiment is described by a posture when a certain vibration amplitude is maximum, as shown in fig. 3, in the longitudinal direction of the train body, the anti-snake dampers are all positioned at the inner side positions of the sleeper beams at the train body end, the active control processor 3 is used for controlling the left anti-snake dampers 6 of the front bogie 2 to extend, pushing the first shock absorbing seats 7 at the left side of the front part of the train body 1 and controlling the right anti-snake dampers 6 of the front bogie 2 to shorten, pulling the first shock absorbing seats 7 at the right side of the front part, and the underframe of the train body 1 deforms; meanwhile, the active control processor 3 controls the anti-snaking shock absorber 6 of the left bogie 2 at the rear part of the vehicle body 1 to shorten, provides a pulling force for the first shock absorbing seat 7 at the left side at the rear part of the vehicle body 1, controls the anti-snaking shock absorber 6 of the right bogie 2 at the rear part of the vehicle body 1 to extend, and provides a pushing force for the first shock absorbing seat 7 at the right side at the rear part of the vehicle body 1, so that the snaking motions of the bogie 2 have the same phase, amplitude and frequency, and the abnormal shaking problem caused by the snaking motions of the bogie can be eliminated or inhibited according to.
Similarly, for the vertical vibration reduction system, due to abnormal shaking, the vehicle body at the front bogie 2 and the rear bogie 2 shows the same-phase rolling vibration, and the first-order diamond mode resonance of the vehicle body can be eliminated by controlling the reverse-phase rolling motion of the front bogie 2 and the rear bogie 2. Controlling the left vertical shock absorber 9 of the front bogie 2 to shorten, giving a pulling force to the third shock absorber seat 10 on the left side of the front part of the vehicle body 1, controlling the right vertical shock absorber 9 of the front bogie 2 to extend, giving a pushing force to the third shock absorber seat 10 on the right side of the front part of the vehicle body 1, and generating deformation on the chassis of the vehicle body 1; meanwhile, the active control processor 3 controls the extension of the vertical shock absorber 9 on the left side of the rear bogie 2, pushes the third shock absorbing seat 10 on the left side of the rear part of the vehicle body 1, controls the shortening of the vertical shock absorber 9 on the right side of the rear bogie 2, and pulls the third shock absorbing seat 10 on the right side of the rear part of the vehicle body 1, so that the side rolling motion of the bogie 2 has opposite phases, same amplitude and same frequency, and the abnormal shaking problem caused by the side rolling motion of the bogie can be eliminated or inhibited according to a modal superposition method.
The specific implementation steps are as follows:
step one, the active control processor (3) acquires six horizontal and vertical vibration accelerations a in the middle of the left side beam, the middle of the right side beam and the sleeper beam in real time through the acceleration sensing systemL_Z(t)、aL_Y(t)、aR_Z(t)、aR_Y(t)、aB_Z(t)、aB_Y(t) and four anti-hunting damper loads F on both sides of the front and rear ends of the vehicle body (1)ksx_FL(t)、Fksx_FR(t)、Fksx_RL(t)、Fksx_RR(t) four vertical damper loads Fsv_FL(t)、Fsv_FR(t)、Fsv_RL(t)、Fsv_RR(t), Z and Y respectively represent the vertical direction and the transverse direction of the car body, L, R represents a left side beam measuring point and a right side beam measuring point, and B represents a sleeper beam correction acceleration measuring point; ksx represents an anti-snake motion shock absorber, sv represents a vertical shock absorber, FL represents the left side of a front bogie, FR represents the right side of a front bogie, RL represents the left side of a rear bogie, RR represents the right side of the rear bogie, t represents time, and the sampling frequency is fs during testing and is required to be 100Hz or above;
step two, on the basis of the step one, the active control processor (3) processes and records the real-time data obtained in the step one, and then judges whether the vehicle body (1) has abnormal jitter according to a judgment logic preset in the active control processor (3), wherein the specific processing and judgment process is as follows:
data preprocessing:
the active control processor carries out 1 time data processing every 0.5s, acceleration data with the length of 1s between t-1 time and t time is processed, namely the size of a data processing window is 1s, the slippage of the window is 0.5s, and the acceleration data is defined as aL_Z(n)、aL_Y(n)、aR_Z(n)、aR_Y(n)、aB_Z(n)、aB_Y(n), since the data length is 1s, the value of n is the sampling frequency value,
using a band-pass filter to the acceleration data aL_Z(n)、aL_Y(n)、aR_Z(n)、aR_Y(n)、aB_Z(n)、aB_Y(n) carrying out band-pass filtering at 5-12 Hz to obtain filtered acceleration data aL_Z_bp(n)、aL_Y_bp(n)、aR_Z_bp(n)、aR_Y_bp(n)、aB_Z_bp(n)、aB_Y_bp(n)；
And (3) judging the phase relation:
with aL_Z_bp(n)、aR_Z_bp(n) calculating the average slope k of the vertical acceleration of the left and right side beams of the vehicle body as an analysis objectZNamely:
Figure GDA0002653148600000071
in the same way, with aL_Y_bp(n)、aR_Y_bp(n) calculating the average slope k of the lateral acceleration of the left and right side beams of the vehicle body as an analysis objectYNamely:
Figure GDA0002653148600000072
when k is satisfiedZ<0，kY>When 0, judging the vertical vibration opposite phase of the left and right side beams and the transverse vibration in the same phase, otherwise, stopping judging and waiting for the next timeJudging for 0.5 s;
and (3) threshold judgment:
when phase decision k is satisfiedZ<0，kY>0, and then performing threshold judgment to aL_Z_bp(n)、aR_Z_bp(n)、aL_Y_bp(n)、aR_Y_bp(n)、aB_Z_bp(n)、aB_Y_bp(n) extracting peak-to-valley values, then taking absolute values of the extracted peak-to-valley values, and calculating average values of the absolute values of the peak-to-valley values, which are respectively expressed as aL_Z_bp_mean_peak、aL_Y_bp_mean_peak、aR_Z_bp_mean_peak、aR_Y_bp_mean_peak、aB_Z_bp_mean_peak、aB_Y_bp_mean_peakIf the following six criteria are met simultaneously, judging that the vehicle body has abnormal jitter, otherwise, stopping processing, and waiting for the next 0.5s for data processing, wherein the criteria are as follows:
Figure GDA0002653148600000073
when the vehicle body is judged to be abnormally shaken, an active control processor (3) sends an active control load signal to the anti-snake vibration absorber (6) and the vertical vibration absorber (9),
the active control load signal determination process comprises the following steps: extracting four anti-snaking shock absorber loads F with the length of 1s between t-1 time and t timeksx_FL(n)、Fksx_FR(n)、Fksx_RL(n)、Fksx_RR(n) and four vertical shock absorber loads Fsv_FL(n)、Fsv_FR(n)、Fsv_RL(n)、Fsv_RR(n)，
Acquiring load main frequency f of four anti-snaking shock absorbers through frequency domain FFT analysisksx_FL、fksx_FR、fksx_RL、fksx_RRBy obtaining four main frequencies f of the loadksx_FL、fksx_FR、fksx_RL、fksx_RRObtaining the average value f of the load dominant frequency of the anti-snaking shock absorberksxWhen the vehicle body is abnormally shaken, the snaking motions of the front and rear bogies (2) are opposite in phase, and in order to suppress the abnormal shaking of the vehicle body, the snaking motions of the front and rear bogies need to be controlled to be in phaseThe load of the left and right anti-snake motion shock absorbers of the front bogie is required to lag 90 degrees, and the load of the left and right anti-snake motion shock absorbers of the rear bogie is required to advance 90 degrees, and the concrete operation is as follows:
the lag and lead times τ, τ ═ 1/f are determinedksx) X 0.25s, the active control load signal sent to the anti-snake motion vibration damper (6) is Fksx_FL(t+τ)、Fksx_FR(t+τ)、Fksx_RL(t-τ)、Fksx_RR(t-τ)，
The active control load signal sent out by the vertical shock absorber in the same way is Fsv_FL(t+τ)、Fsv_FR(t+τ)、Fsv_RL(t-τ)、Fsv_RR(t-τ)；
Step three, the active control load signals sent out in the step two are respectively sent to anti-snake motion vibration dampers (6) and vertical vibration dampers (9) on the two sides of the front end and the rear end of the vehicle body (1), so that the loads of the left anti-snake motion vibration damper (6) and the right anti-snake motion damper (6) of the front end bogie (2) and the vertical vibration damper (9) are respectively delayed by 90 degrees of phase positions compared with the original loads, the loads of the left anti-snake motion damper (6) and the vertical vibration damper (9) of the rear end bogie (2) are respectively advanced by 90 degrees of phase positions compared with the original loads, the load amplitude value keeps the original amplitude value, the snake motion of the front bogie and the rear bogie in the same phase, frequency and amplitude value is realized, and the rolling motion of the front;
step four, after the active control load signal is sent out in the step three, the active control processor still judges according to the original every 0.5s, if the abnormal shake of the vehicle body is still judged, the active control load signal F of the anti-snaking shock absorber obtained at the last moment is continuously sent outksx_F(Lt+τ)、Fksx_FR(t+τ)、Fksx_RL(t-τ)、Fksx_RR(t-tau) and vertical shock absorber active control load signal Fsv_F(Lt+τ)、Fsv_FR(t+τ)、Fsv_RL(t-τ)、Fsv_RR(t-tau), if the vehicle body is judged not to have abnormal vibration, stopping sending the active control load signals to the anti-snaking shock absorber and the vertical shock absorber, recovering the original characteristics of the anti-snaking shock absorber and the vertical shock absorber, passively damping, clearing the sent active control load signals, and waiting for the next storage, so as to store the signals from the peripheryAnd repeatedly monitoring and controlling abnormal shaking of the vehicle body.
The first acceleration sensor 4, the second acceleration sensor 5 and the correction acceleration sensor 12 of the present invention may be provided in plural numbers, and in order to save cost, it is preferable that the first acceleration sensor 4, the second acceleration sensor 5 and the correction acceleration sensor 12 are provided in 1 number, respectively.
While the embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art, and the scope of the present invention is within the scope of the claims.

Claims (6)

1. A method for controlling abnormal shaking of a vehicle body comprises the following steps;
step one, the active control processor (3) acquires six horizontal and vertical vibration accelerations a in the middle of the left side beam, the middle of the right side beam and the sleeper beam in real time through the acceleration sensing systemL_Z(t)、aL_Y(t)、aR_Z(t)、aR_Y(t)、aB_Z(t)、aB_Y(t) and four anti-hunting damper loads F on both sides of the front and rear ends of the vehicle body (1)ksx_FL(t)、Fksx_FR(t)、Fksx_RL(t)、Fksx_RR(t) four vertical damper loads Fsv_FL(t)、Fsv_FR(t)、Fsv_RL(t)、Fsv_RR(t), Z and Y respectively represent the vertical direction and the transverse direction of the car body, L, R represents a left side beam measuring point and a right side beam measuring point, and B represents a sleeper beam correction acceleration measuring point; ksx represents an anti-snake motion shock absorber, sv represents a vertical shock absorber, FL represents the front bogie left side, FR represents the front bogie right side, RL represents the rear bogie left side, RR represents the rear bogie right side, t represents time, and the sampling frequency is fs, which is required to be 100Hz or above; the acceleration sensing system comprises a first acceleration sensor (4), a second acceleration sensor (5) and a correction acceleration sensor (12), wherein the first acceleration sensor (4) is arranged in the longitudinal middle of a left side beam of the vehicle body (1), the second acceleration sensor (5) is arranged in the longitudinal middle of a right side beam, and the correction acceleration sensorThe sensor (12) is arranged on the transverse end part of the sleeper beam at one end of the vehicle body (1); wherein, the four anti-snaking shock absorbers (6) are respectively arranged between the two sides of the front end and the rear end of the vehicle body (1) and the bogie (2) and are electrically connected with the active control processor (3); the four vertical shock absorbers (9) are respectively arranged between the front and rear sides of the vehicle body (1) and the bogie (2) and are electrically connected with the active control processor (3);
step two, on the basis of the step one, the active control processor (3) processes and records the real-time data obtained in the step one, and then judges whether the vehicle body (1) has abnormal jitter according to a judgment logic preset in the active control processor (3), wherein the specific processing and judgment process is as follows:
data preprocessing:
the active control processor carries out 1 time data processing every 0.5s, acceleration data with the length of 1s between t-1 time and t time is processed, namely the size of a data processing window is 1s, the slippage of the window is 0.5s, and the acceleration data is defined as aL_Z(n)、aL_Y(n)、aR_Z(n)、aR_Y(n)、aB_Z(n)、aB_Y(n), since the data length is 1s, the value of n is the sampling frequency value,
using a band-pass filter to the acceleration data aL_Z(n)、aL_Y(n)、aR_Z(n)、aR_Y(n)、aB_Z(n)、aB_Y(n) carrying out band-pass filtering at 5-12 Hz to obtain filtered acceleration data aL_Z_bp(n)、aL_Y_bp(n)、aR_Z_bp(n)、aR_Y_bp(n)、aB_Z_bp(n)、aB_Y_bp(n)；
And (3) judging the phase relation:
with aL_Z_bp(n)、aR_Z_bp(n) calculating the average slope k of the vertical acceleration of the left and right side beams of the vehicle body as an analysis objectZNamely:
Figure FDA0002653148590000021
in the same way, with aL_Y_bp(n)、aR_Y_bp(n) calculating left and right side beam cross of the vehicle body as an analysis objectAverage slope k towards accelerationYNamely:
Figure FDA0002653148590000022
satisfy kZ<0、kY>When the vibration amplitude is 0, judging the vertical vibration opposite phases of the left and right side beams, judging the same phase of the horizontal vibration, stopping judging, and waiting for the next judgment for 0.5 s;
and (3) threshold judgment:
when phase decision k is satisfiedZ<0、kY>0, and then performing threshold judgment to aL_Z_bp(n)、aR_Z_bp(n)、aL_Y_bp(n)、aR_Y_bp(n)、aB_Z_bp(n)、aB_Y_bp(n) extracting peak-to-valley values, then taking absolute values of the extracted peak-to-valley values, and calculating average values of the absolute values of the peak-to-valley values, which are respectively expressed as aL_Z_bp_mean_peak、aL_Y_bp_mean_peak、aR_Z_bp_mean_peak、aR_Y_bp_mean_peak、aB_Z_bp_mean_peak、aB_Y_bp_mean_peakIf the following six criteria are met simultaneously, judging that the vehicle body has abnormal jitter, otherwise, stopping processing, and waiting for the next 0.5s for data processing, wherein the criteria are as follows:
Figure FDA0002653148590000023
when the vehicle body is judged to be abnormally shaken, an active control processor (3) sends an active control load signal to the anti-snake vibration absorber (6) and the vertical vibration absorber (9),
the active control load signal determination process comprises the following steps: extracting four anti-snaking shock absorber loads F with the length of 1s between t-1 time and t timeksx_FL(n)、Fksx_FR(n)、Fksx_RL(n)、Fksx_RR(n) and four vertical shock absorber loads Fsv_FL(n)、Fsv_FR(n)、Fsv_RL(n)、Fsv_RR(n)，
Acquiring load main frequency f of four anti-snaking shock absorbers through frequency domain FFT analysisksx_FL、fksx_FR、fksx_RL、fksx_RRBy obtaining four primary frequencies f of the load of the anti-snaking vibration damperksx_FL、fksx_FR、fksx_RL、fksx_RRObtaining the average value f of the load dominant frequency of the anti-snaking shock absorberksxWhen the vehicle body shakes abnormally, the snaking motion of the front bogie (2) and the snaking motion of the rear bogie (2) are in opposite phases, in order to inhibit the abnormal shaking of the vehicle body, the snaking motion of the front bogie and the snaking motion of the rear bogie need to be controlled to be in the same phase, the loads of the left anti-snaking shock absorber and the right anti-snaking shock absorber of the front bogie need to lag 90 degrees, the loads of the left anti-snaking shock absorber and the right anti-snaking shock absorber of the rear bogie need to lead:
the lag and lead times τ, τ ═ 1/f are determinedksx) X 0.25s, the active control load signal sent to the anti-snake motion vibration damper (6) is Fksx_FL(t+τ)、Fksx_FR(t+τ)、Fksx_RL(t-τ)、Fksx_RR(t-τ)，
The active control load signal sent out by the vertical shock absorber in the same way is Fsv_FL(t+τ)、Fsv_FR(t+τ)、Fsv_RL(t-τ)、Fsv_RR(t-τ)；
Step three, the active control load signals sent out in the step two are respectively sent to anti-snake motion vibration dampers (6) and vertical vibration dampers (9) on the two sides of the front end and the rear end of the vehicle body (1), so that the loads of the left anti-snake motion vibration damper (6) and the right anti-snake motion damper (6) of the front end bogie (2) and the vertical vibration damper (9) are respectively delayed by 90 degrees of phase positions compared with the original loads, the loads of the left anti-snake motion damper (6) and the vertical vibration damper (9) of the rear end bogie (2) are respectively advanced by 90 degrees of phase positions compared with the original loads, the load amplitude value keeps the original amplitude value, the snake motion of the front bogie and the rear bogie in the same phase, frequency and amplitude value is realized, and the rolling motion of the front;
step four, after the active control load signal is sent out in the step three, the active control processor still judges according to the original every 0.5s, if the abnormal shake of the vehicle body is still judged, the active control load signal F of the anti-snaking shock absorber obtained at the last moment is continuously sent outksx_F(Lt+τ)、Fksx_FR(t+τ)、Fksx_RL(t-τ)、Fksx_RR(t-t) and verticalActive control load signal F of shock absorbersv_F(Lt+τ)、Fsv_FR(t+τ)、Fsv_RL(t-τ)、Fsv_RR(t-tau), if the vehicle body is judged not to have abnormal shaking, stopping sending the active control load signals to the anti-snaking shock absorber and the vertical shock absorber, recovering the original characteristics of the anti-snaking shock absorber and the vertical shock absorber, passively damping, clearing the sent active control load signals, and waiting for the next storage, thereby monitoring and controlling the abnormal shaking of the vehicle body repeatedly.
2. An apparatus for controlling abnormal shaking of a vehicle body, comprising: comprises a vehicle body (1) and bogies (2) at the front and rear ends of the vehicle body, and,
an active control processor (3);
the acceleration sensing system is arranged on the vehicle body (1) and is electrically connected with the active control processor (3);
the anti-snaking vibration absorbers (6) are respectively arranged between the front and rear ends of the vehicle body (1) and the bogie (2) and are electrically connected with the active control processor (3);
the vertical shock absorbers (9) are respectively arranged between the front and rear sides of the vehicle body (1) and the bogie (2) and are electrically connected with the active control processor (3);
the device is set up to carry out the method according to claim 1.
3. The apparatus for controlling abnormal shaking of a vehicle body according to claim 2, wherein: the active control processor (3) comprises a data acquisition module, a data analysis module and a data threshold judgment module, wherein the data acquisition module is respectively and electrically connected with the acceleration sensing system, the anti-snaking shock absorber and the vertical shock absorber.
4. The apparatus for controlling abnormal shaking of a vehicle body according to claim 2, wherein: the acceleration sensing system comprises a first acceleration sensor (4), a second acceleration sensor (5) and a correction acceleration sensor (12), the first acceleration sensor (4) is arranged in the longitudinal middle of the left side beam of the vehicle body (1), the second acceleration sensor (5) is arranged in the longitudinal middle of the right side beam, the correction acceleration sensor (12) is arranged on the transverse end part of a sleeper beam at one end of the vehicle body (1), the first acceleration sensor (4), the second acceleration sensor (5) and the correction acceleration sensor (12) are respectively and electrically connected with the active control processor, the first acceleration sensor (4), the second acceleration sensor (5) and the correction acceleration sensor (12) are used for testing the vertical acceleration and the transverse acceleration of the longitudinal middle part of the left side beam, the longitudinal middle part of the right side beam and the transverse end part of the sleeper beam of the vehicle body (1) respectively.
5. The apparatus for controlling abnormal shaking of a vehicle body according to claim 2, wherein: one end of the anti-snaking shock absorber (6) is hinged to a first shock absorbing seat (7), the first shock absorbing seat (7) is connected with the lower surface of the vehicle body (1) through a bolt, the other end of the anti-snaking shock absorber (6) is hinged to a second shock absorbing seat (8), the second shock absorbing seat (8) is fixed on the outer side face of the lower portion of the frame of the bogie (2), the second shock absorbing seat (8) is located on the lower side of the first shock absorbing seat (7), and the anti-snaking shock absorber (6) is electrically connected with the active control processor (3).
6. The apparatus for controlling abnormal shaking of a vehicle body according to claim 2, wherein: one end of the vertical shock absorber (9) is hinged to a third shock absorbing seat (10), the third shock absorbing seat (10) is connected with the vehicle body (1) through bolts, the other end of the vertical shock absorber is hinged to a fourth shock absorbing seat (11), the fourth shock absorbing seat (11) is fixed to the bottom end of a framework of the bogie (2), the fourth shock absorbing seat (11) is located below the third shock absorbing seat (10), and the vertical shock absorber (9) is electrically connected with the active control processor (3).
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