CN110667632B - Device and method for controlling abnormal shaking of vehicle body based on anti-snaking shock absorber - Google Patents
Device and method for controlling abnormal shaking of vehicle body based on anti-snaking shock absorber Download PDFInfo
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- CN110667632B CN110667632B CN201910880418.9A CN201910880418A CN110667632B CN 110667632 B CN110667632 B CN 110667632B CN 201910880418 A CN201910880418 A CN 201910880418A CN 110667632 B CN110667632 B CN 110667632B
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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 based on an anti-snaking shock absorber, wherein the device comprises the following steps: the system 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; and the anti-snaking vibration reduction system is arranged between the vehicle body and the bogie and is electrically connected with the active control processor. The invention can eliminate the abnormal shaking phenomenon of the train body through the anti-snaking vibration reduction system, increase the comfort of passengers and simultaneously reduce the railway operation and maintenance cost.
Description
Technical Field
The invention relates to a device and a method for controlling abnormal shaking of a vehicle body based on an anti-snaking shock absorber.
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 based on an anti-snaking shock absorber, 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 based on an anti-snaking vibration damping system comprises the vehicle body, bogies at the front end and the rear end of the vehicle body, a vibration damping device,
an active control processor;
the acceleration sensing system is arranged on the vehicle body and is electrically connected with the active control processor;
and the anti-snaking vibration dampers are respectively arranged between the front and rear sides of the vehicle body and the bogie 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 and the anti-snaking vibration reduction system respectively.
The acceleration sensing system comprises a first acceleration sensor, a second acceleration sensor and a correction acceleration sensor, wherein the first acceleration sensor is arranged in the longitudinal middle of a left side beam of the vehicle body, the second acceleration sensor is arranged in the longitudinal middle of a right side beam, the correction acceleration sensor is arranged on the transverse end part of a sleeper beam at one end of the vehicle body, 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 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.
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.
A control method for controlling abnormal shaking of a vehicle body based on an anti-snaking vibration damping system comprises the device for controlling the abnormal shaking of the vehicle body, and comprises the following steps;
step one, the active control processor 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 bodyksx_FL(t)、Fksx_FR(t)、Fksx_RL(t)、Fksx_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-snaking shock absorber, FL represents the left side of a front bogie, FR represents the right side of the 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 and is required to be 100Hz or above;
step two, on the basis of the step one, the active control processor processes and records the real-time data obtained in the step one, and then judges whether the vehicle body has abnormal jitter according to a judgment logic preset in the active control processor, wherein the specific processing and judgment process is as follows:
data preprocessing:
1 every 0.5s actively controlling the processorAnd secondary data processing, namely processing the acceleration data with the length of 1s between the time t-1 and the time t, namely the size of a data processing window is 1s, the slippage of the window is 0.5s, and defining the acceleration data 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:
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:
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:
when the vehicle body is judged to be abnormally shaken, the active control processor sends an active control load signal to the anti-snaking shock absorber,
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)，
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 bogie and the rear bogie are in opposite phases, in order to inhibit the abnormal shaking of the vehicle body, the snaking motions of the front bogie and 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 by 90 degrees, the loads of the left anti-snaking shock absorber and the right anti-snaking shock absorber of the rear bogie are advanced by 90 degrees, and the method specifically comprises the following steps:
the lag and lead times τ, τ ═ 1/f are determinedksx) X 0.25s, the active control load signal sent to the anti-snaking shock absorber is Fksx_FL(t+τ)、Fksx_FR(t+τ)、Fksx_RL(t-τ)、Fksx_RR(t-τ)；
Step three, the active control load signals sent out in the step two are respectively sent to anti-snake motion vibration absorbers on the front and rear sides of the vehicle body, so that the loads of the left and right anti-snake motion vibration absorbers of the front bogie respectively lag behind the original loads by 90 degrees, the loads of the left and right anti-snake motion vibration absorbers of the rear bogie respectively lead ahead of the original loads by 90 degrees, the amplitude of the loads keeps the original amplitude, and the snake motion of the front and rear bogies in the same phase, the same frequency and the same amplitude is realized;
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_FL(t+τ)、Fksx_FR(t+τ)、Fksx_RL(t-τ)、Fksx_RR(t-tau), if the vehicle body is judged not to have abnormal shake, stopping sending the active control load signal to the anti-snake motion vibration damper, recovering the original characteristic of the anti-snake motion vibration damper, passively damping vibration, clearing the sent active control load signal, and storing for the next time, thereby monitoring and controlling the abnormal shake of the vehicle body repeatedly.
The invention has the beneficial effects that: the anti-snake 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 damping system 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-correction of acceleration sensor.
Detailed Description
Example (b):
referring to fig. 1-4, which are schematic structural views of the present invention, a device for controlling abnormal vehicle body shake based on an anti-snaking vibration damping system at least comprises a vehicle body 1, 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; and 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.
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 and the anti-snaking vibration reduction system.
The acceleration sensing system comprises a first acceleration sensor 4, a second acceleration sensor 5 and a correction acceleration sensor 9, 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 9 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 9 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 9 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.
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 shake of the vehicle body when the judgment rule is met, and then sending an active control load signal to four anti-snaking vibration reduction systems between the vehicle body 1 and the bogie 2 to control the corresponding action amount of each anti-snaking vibration reduction system and eliminate the abnormal shake of the vehicle 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.
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), 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-snaking shock absorber, FL represents the left side of a front bogie, FR represents the right side of the 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:
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:
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:
when the vehicle body is judged to be abnormally shaken, an active control load signal is sent to the anti-snake vibration absorber (6) through the active control processor (3),
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)，
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 be retarded by 90 degrees, the loads of the left anti-snaking shock absorber and the right anti-snaking shock absorber of the rear bogie need to:
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)；
Step three, the active control load signals sent out in the step two are respectively sent to anti-snake motion vibration absorbers (6) on the front end and the rear end of the vehicle body (1), so that the loads of the left anti-snake motion vibration absorbers (6) and the right anti-snake motion vibration absorbers (6) of the front end bogie (2) are respectively delayed by 90-degree phases compared with the original loads, the loads of the left anti-snake motion vibration absorbers (6) and the right anti-snake motion vibration absorbers (6) of the rear end bogie (2) are respectively advanced by 90-degree phases compared with the original loads, the amplitude of the loads keeps the original amplitude, and the same-phase, same-frequency and;
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 resistance obtained at the last moment is continuously sent outActive control load signal F of snake-like vibration damperksx_FL(t+τ)、Fksx_FR(t+τ)、Fksx_RL(t-τ)、Fksx_RR(t-tau), if the vehicle body is judged not to have abnormal shake, stopping sending the active control load signal to the anti-snake motion vibration damper, recovering the original characteristic of the anti-snake motion vibration damper, passively damping vibration, clearing the sent active control load signal, and storing for the next time, thereby monitoring and controlling the abnormal shake of the vehicle body repeatedly.
The first acceleration sensor 4, the second acceleration sensor 5 and the correction acceleration sensor 9 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 9 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 (5)
1. A control method for controlling abnormal vehicle body shaking, which is implemented by an apparatus for controlling abnormal vehicle body shaking based on an anti-hunting vibration damping system, said apparatus comprising: a vehicle body (1) and 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 system comprises anti-snaking vibration reducers, and the anti-snaking vibration reduction system is respectively arranged between the front and rear sides of the vehicle body (1) and the bogie (2) and is electrically connected with the active control processor (3)
The control method comprises the following steps:
step one, the active control processor (3) collects six horizontal and vertical vibrations 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 systemDynamic acceleration aL_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), 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-snaking shock absorber, FL represents the left side of a front bogie, FR represents the right side of the 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 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 objectZ，
Namely:
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:
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:
when the vehicle body is judged to be abnormally shaken, an active control load signal is sent to the anti-snake vibration absorber (6) through the active control processor (3),
the active control load signal determination process comprises the following steps: extracting from time t-1 to time tFour anti-snaking shock absorber load F with length of 1s betweenksx_FL(n)、Fksx_FR(n)、Fksx_RL(n)、Fksx_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)；
Step three, the active control load signals sent out in the step two are respectively sent to anti-snake motion vibration absorbers (6) on the front end and the rear end of the vehicle body (1), so that the loads of the left anti-snake motion vibration absorbers (6) and the right anti-snake motion vibration absorbers (6) of the front end bogie (2) are respectively delayed by 90-degree phases compared with the original loads, the loads of the left anti-snake motion vibration absorbers (6) and the right anti-snake motion vibration absorbers (6) of the rear end bogie (2) are respectively advanced by 90-degree phases compared with the original loads, the amplitude of the loads keeps the original amplitude, and the same-phase, same-frequency and;
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 obtained at the last moment is continuously sent outksx_FL(t+τ)、Fksx_FR(t+τ)、Fksx_RL(t-τ)、Fksx_RR(t- τ) stopping the active control load signal to the anti-hunting vibration damper and the anti-hunting vibration damper when it is determined that the vehicle body is not abnormally shakenThe device recovers the original characteristics of the shock absorber, passively absorbs the shock, and removes the sent active control load signal for the next storage, so that the abnormal shaking of the vehicle body is monitored and controlled repeatedly.
2. The utility model provides a control automobile body unusual shake device based on anti snaking damping system which characterized in that: 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 reduction system comprises anti-snaking vibration reducers, and is respectively arranged between the front and rear sides of the vehicle body (1) and the bogie (2) and is 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 based on an anti-hunting damping system 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 electrically connected with the acceleration sensing system and the anti-snaking vibration reduction system respectively.
4. The apparatus for controlling abnormal shaking of a vehicle body based on an anti-hunting damping system 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 (9), 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 (9) is arranged on the transverse end part of the 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 (9) 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 (9) 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 based on an anti-hunting damping system according to claim 2, wherein: the anti-snake-running vibration damping system comprises an anti-snake-running vibration damper (6), a first vibration damping seat (7) and a second vibration damping seat (8), wherein the first vibration damping seat (7) is connected with the lower surface of the vehicle body (1) through a bolt, one end of the anti-snake-running vibration damper (6) is hinged to the first vibration damping seat (7), the second vibration damping seat (8) is fixed on the outer side surface of the lower portion of the framework of the bogie (2), the second vibration damping seat (8) is located on the lower side of the first vibration damping seat (7), the other end of the anti-snake-running vibration damper (6) is hinged to the second vibration damping seat (8), and the anti-snake-running vibration damper (6) is electrically connected with the active control processor (3).
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