CN112383247B - Anti-snaking movement device and system for train bogie - Google Patents

Anti-snaking movement device and system for train bogie Download PDF

Info

Publication number
CN112383247B
CN112383247B CN202010918606.9A CN202010918606A CN112383247B CN 112383247 B CN112383247 B CN 112383247B CN 202010918606 A CN202010918606 A CN 202010918606A CN 112383247 B CN112383247 B CN 112383247B
Authority
CN
China
Prior art keywords
current
frequency
traction motor
bogie
snaking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010918606.9A
Other languages
Chinese (zh)
Other versions
CN112383247A (en
Inventor
余岳
杨晃民
李国良
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changsha Ruiqian Electrical Technology Co ltd
Hunan University of Technology
Original Assignee
Changsha Ruiqian Electrical Technology Co ltd
Hunan University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changsha Ruiqian Electrical Technology Co ltd, Hunan University of Technology filed Critical Changsha Ruiqian Electrical Technology Co ltd
Priority to CN202010918606.9A priority Critical patent/CN112383247B/en
Publication of CN112383247A publication Critical patent/CN112383247A/en
Application granted granted Critical
Publication of CN112383247B publication Critical patent/CN112383247B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
    • 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
    • B61F5/50—Other details
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage

Abstract

The invention discloses a device and a system for preventing a train bogie from snaking, wherein the device comprises: the current sensor is used for acquiring an input current signal of the traction motor; the rotating speed sensor is used for acquiring a current rotating speed signal of the traction motor; the snaking motion data processing module is used for calculating the snaking motion frequency and amplitude of the bogie according to the input current of the traction motor and the current rotating speed signal and generating the frequency and amplitude information of the harmonic current of the traction motor; and the control unit controls the traction converter according to the frequency and amplitude information of the harmonic current of the traction motor, so that the traction converter outputs the harmonic current with corresponding frequency and amplitude to the traction motor and superposes the harmonic current with normal working current, and the harmonic current generates mechanical vibration with the same frequency and opposite phase with the snaking motion, thereby inhibiting the snaking motion of the bogie. The invention can solve the technical problems of complex structure, high cost and low reliability of the conventional anti-snaking device for the bogie.

Description

Anti-snaking movement device and system for train bogie
Technical Field
The invention relates to the technical field of rail transit, in particular to a train bogie snaking motion resisting device and system based on traction motor current detection.
Background
With the economic development layout, the overseas market is actively expanded while the high-speed railway in China is rapidly developed at home, and meanwhile, the safety performance of the high-speed railway is more and more concerned globally. When the wheel set rolls along a straight steel rail in a high-speed running state of a train, a motion with an increasing amplitude is generated, namely, the wheel set moves transversely on one hand and rotates around a vertical shaft passing through the mass center of the wheel set on the other hand, and the coupling of the two motions forms the snaking motion (also called snaking vibration) of the wheel set. The research on the snaking motion of the bogie is always the focus of attention in the safe running process of the train, and once the snaking motion exceeds a safe range, a serious accident of train derailment occurs. Therefore, the research on the stability of the snaking motion of the train has a very important significance for improving the running safety of the train, and particularly, the research on the snaking motion of a bogie of a high-speed train becomes a key point in the research on the safe running of the high-speed railway along with the continuous speed increase of the high-speed train.
At present, a large number of line tracking tests show that the hunting instability phenomenon of the high-speed train is summarized as follows:
(1) after the wheels are turned, the car bodies of various motor train units have low-frequency shaking phenomena, namely primary hunting instability of the car bodies, which is specifically represented as low-frequency (generally less than 2Hz) shaking of the car bodies.
(2) The bogie lateral acceleration in the middle and later periods of wheel abrasion is subjected to overrun alarm, namely secondary hunting instability of the bogie, and the secondary hunting instability is specifically represented by high-frequency (generally more than 5Hz) shaking of the bogie.
(3) Two kinds of hunting instability do not occur simultaneously.
Conventional suspension systems for rolling stock usually consist of a resilient element and a damping element, which do not require external energy supply for operation, but only consume or temporarily store energy within the system, and are a passive mode of operation, hence the name passive suspension. Passive suspensions, which do not require input from an external energy source to damp vibrations, are also referred to as passive suspensions. From a control perspective, passive suspension belongs to an open loop system, while semi-active control suspension belongs to a closed loop feedback control system. According to the data of the sensor, the variable damping vibration absorber is controlled semi-actively, the damping coefficient of the hydraulic vibration absorber is reasonably adjusted to resist external excitation, the vibration attenuation effect is in a better state, and the vibration of the locomotive body is reduced, which is one of effective methods for improving the running quality of the locomotive.
In the prior art, anti-snaking motion is mainly realized by installing an anti-snaking damper for a bogie, the anti-snaking damper is a very important part in a vehicle system, and the bogie with the running speed of more than 160km/h is required to be provided with the anti-snaking damper. The anti-hunting dampers are longitudinally and symmetrically installed on both sides of the bogie to provide a turning moment to the vehicle, thereby suppressing hunting of the bogie and the vehicle body to increase the running speed of the train and improve the dynamic performance thereof. After the conventional anti-snake-like vibration absorber is loaded, an acceleration sensor is also required to be arranged on a bogie and is used for measuring vibration data of the bogie in the transverse direction, the longitudinal direction and the vertical direction. The prior art also provides a large number of technical schemes of the specific structure of the anti-snaking oil pressure vibration absorber with variable damping. Such as: CN108518443A, CN207145516U, CN107420474A, CN103851121B and the like. After the acceleration sensor data is collected, corresponding data analysis is carried out, and then the anti-snaking shock absorber is controlled to weaken or eliminate the snaking motion.
The semi-active control variable damping shock absorber based on the sensor acquisition detection signal in the prior art has the limitations mainly embodied in the following two aspects:
(1) three or more than three anti-snaking motion detection sensors (particularly, acceleration sensors) are additionally arranged on the high-speed train, so that the wiring complexity of the bogie is increased, the cost of the system is increased, and the reliability of the system is reduced;
(2) the high-speed train needs to be additionally provided with a system for carrying out data conditioning and data processing on the acceleration sensor, so that the hardware cost of the system is greatly increased, the complexity of the high-speed train is increased, and the overall reliability of the high-speed train is reduced.
Disclosure of Invention
In view of the above, the present invention provides a hunting-resistant apparatus and system for a train bogie, so as to solve the technical problems of complex structure, high cost and low reliability of the existing hunting-resistant apparatus for a bogie.
In order to achieve the above object, the present invention specifically provides a technical implementation scheme of a hunting-resistant device for a train bogie, including:
the current sensor is used for acquiring an input current signal of the traction motor;
the rotating speed sensor is used for acquiring a current rotating speed signal of the traction motor;
the snaking motion data processing module is used for calculating the snaking motion frequency and amplitude of the bogie according to the input current of the traction motor and the current rotating speed signal and generating the frequency and amplitude information of the harmonic current of the traction motor;
and the control unit is used for controlling the traction converter according to the frequency and amplitude information of the harmonic current of the traction motor, so that the traction converter outputs the harmonic current with corresponding frequency and amplitude to the traction motor and superposes normal working current, and the harmonic current generates mechanical vibration with the same frequency and opposite phase with the snaking motion, thereby inhibiting the snaking motion of the bogie.
Further, the crawling motion data processing module comprises:
the torque calculation module is used for calculating a current torque signal of the traction motor according to the current rotating speed signal acquired by the rotating speed sensor;
the disturbance separation module is used for receiving an input current signal acquired by the current sensor and a current torque signal output by the torque calculation module, and extracting low-frequency harmonic current and low-frequency disturbance torque caused by the snaking motion of the bogie from the input current signal;
the data analysis module is used for calculating the snaking motion frequency and amplitude of the current bogie according to the low-frequency harmonic current and the low-frequency disturbance torque output by the disturbance separation module;
and the harmonic injection parameter calculation module is used for calculating the frequency and amplitude of the harmonic current of the traction motor according to the snaking motion frequency and amplitude output by the data analysis module.
Further, the disturbance separation module includes a current signal separation submodule that performs high-frequency filtering on the current signal collected by the current sensor according to the following transfer function, and extracts a low-frequency harmonic current caused by the hunting motion of the bogie:
y(t)＝k1*x(t)+k1*x(t-1)+k1*x(t-2)+k1*x(t-3)
wherein y (t) is a current effective signal output by the current signal separation submodule at the time t, x (t) is a current discrete sampling signal of the current signal separation submodule at the time t, x (t-1) is a current discrete sampling signal at the time t-1, x (t-2) is a current discrete sampling signal at the time t-2, x (t-3) is a current discrete sampling signal at the time t-3, k is a current discrete sampling signal at the time t-31Separating the proportions of the individual proportional elements in the submodules for the current signalAnd (4) the coefficient.
Further, the disturbance separation module further comprises a moment disturbance signal separation submodule, wherein the moment disturbance signal separation submodule performs high-frequency filtering on the torque signal output by the moment calculation module according to the following transfer function, and extracts low-frequency disturbance torque caused by snaking of the bogie:
y′(t)＝k2*x′(t)+k2*x′(t-1)+k2*x′(t-2)+k2*x′(t-3)
in the formula, y ' (t) is a torque effective signal output by the torque disturbance signal separation submodule at the time t, x ' (t) is a torque discrete sampling signal of the torque disturbance signal separation submodule at the time t, x ' (t-1) is a torque discrete sampling signal at the time t-1, x ' (t-2) is a torque discrete sampling signal at the time t-2, x ' (t-3) is a torque discrete sampling signal at the time t-3, and k is a moment effective signal output by the torque disturbance signal separation submodule at the time t2And separating the proportionality coefficient of each proportionality link in the submodule for the moment disturbance signal.
Further, the data analysis module comprises a snaking frequency calculation submodule, the snaking frequency calculation submodule receives the low-frequency harmonic current and the low-frequency disturbance torque output by the disturbance separation module, and calculates the snaking motion frequency f of the current bogie according to the following formulav：
Figure GDA0002819777340000031
Figure GDA0002819777340000033
In the formula IfEffective value of current, f, for measuring the frequency of vibration of the traction motor which produces a snaking motion1For the fundamental frequency of the input current of the traction motor, I1Is the effective value of the input current fundamental wave of the traction motor, C (n, T, I) is a disturbance separation function, n is the harmonic frequency of the input current of the traction motor, T is the torque signal of the traction motor output by the torque calculation module, I is the effective value of the input current of the traction motor,
Figure GDA0002819777340000032
the harmonic current value at the switching frequency of the traction converter is ln (), the natural logarithm is, a is a traction motor torque disturbance separation weight coefficient, and b is a traction motor input current disturbance separation weight coefficient.
Further, the data analysis module further comprises a snaking amplitude calculation submodule, the snaking amplitude value operator module receives the low-frequency harmonic current and the low-frequency disturbance torque output by the disturbance separation module, and calculates the snaking motion amplitude A (f) of the current bogie according to the following formulav)：
Figure GDA0002819777340000041
In the formula, A (f)v) To the frequency of vibration fvAmplitude of vibration of (f)v2Is fvSquare of (1), mkAre conversion coefficients.
Further, the conversion coefficient mkCalculated according to the following formula:
Figure GDA0002819777340000042
where k is an arbitrary test frequency in the offline test, I1' is the effective value of the input current fundamental wave, f, of the traction motor in the off-line testv'For bogie snaking frequency, A' (f), added in off-line testingv') For frequency f in off-line testingv'The measured amplitude of the hunting of the bogie.
Furthermore, the harmonic frequency n of the input current of the traction motor is less than or equal to 20.
Furthermore, a torque disturbance separation weight coefficient a of the traction motor is 0.01-1, and a disturbance separation weight coefficient b of the input current of the traction motor is 0.01-1.
Furthermore, any test frequency k in the off-line test is 0-10 Hz.
The present invention further specifically provides a technical implementation scheme of a hunting-resistant system for a train bogie, which comprises: an anti-snaking device as described above, a traction inverter, and a traction motor mounted on a bogie. When the train runs and the bogie does snaking movement, the low-frequency periodic vibration of the wheel set is transmitted to a rotating shaft of the traction motor through the suspension mechanism. The anti-snaking device collects input current and current rotating speed signals of the traction motor, calculates snaking motion frequency and amplitude of the bogie, and generates frequency and amplitude information of harmonic current of the traction motor so as to control the traction converter to output the harmonic current with corresponding frequency and amplitude to the traction motor and superimpose normal working current, wherein the harmonic current generates mechanical vibration with the same frequency and the opposite phase of the snaking motion, and therefore the snaking motion of the bogie is restrained.
Furthermore, two groups of wheel sets belonging to the same bogie are respectively provided with a traction motor, and the traction motors are arranged on the bogie through a motor suspension mechanism. The two traction motors or any one of the two traction motors is connected with an anti-snaking movement device.
Through the technical scheme of the train bogie snaking motion resisting device and system provided by the invention, the following beneficial effects are achieved:
(1) according to the invention, a train bogie snaking active control mode based on traction motor harmonic current injection is adopted, and the traction motor suspended on the bogie is injected with harmonic current, so that the traction motor generates vibration with the same frequency and opposite phase with the snaking motion of the bogie, thereby well relieving and eliminating the technical problem of the snaking motion of the bogie;
(2) on the premise of not increasing the anti-snaking shock absorber and other anti-snaking hardware structures, the invention directly injects harmonic current into the traction motor according to the structural parameters of the current suspension system, thereby not only thoroughly relieving and eliminating the technical problem of the snaking instability of the bogie in the high-speed running state of the train, but also greatly simplifying the structure, reducing the cost, reducing the system fault points, improving the system reliability and having important theoretical significance and engineering application value.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other embodiments can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic structural view of a bogie for use in the anti-hunting apparatus for a train bogie according to the present invention;
FIG. 2 is a schematic view of a coupling structure of an embodiment of the anti-snaking device for a railway vehicle bogie according to the present invention;
FIG. 3 is a block diagram of the system architecture of one embodiment of the hunting system according to the present invention for a railway truck;
FIG. 4 is a block diagram of the structure of a current signal splitter sub-module in an embodiment of the anti-snaking device for a bogie according to the present invention;
FIG. 5 is a block diagram of the structure of the moment disturbance signal separation submodule in an embodiment of the apparatus for preventing snaking of a train bogie according to the present invention;
FIG. 6 is a schematic block diagram of a harmonic injection parameter calculation module in an embodiment of the anti-snaking device for a train bogie according to the present invention;
FIG. 7 is a schematic diagram comparing the anti-hunting effect of the anti-hunting device of the bogie of the present invention with that of the prior anti-hunting vibration damper;
FIG. 8 is a schematic flow chart diagram of a process for one embodiment of a method for preventing hunting of a railway truck based on the apparatus of the present invention;
FIG. 9 shows a method for preventing hunting of a bogie of a train based on the device of the present invention, in an embodiment, the method is a transformation coefficient mkThe flow diagram of the subprogram of (1);
in the figure: 1-wheel pair, 2-framework, 3-primary suspension mechanism, 4-secondary suspension mechanism, 5-motor suspension mechanism, 6-traction motor, 7-current sensor, 8-rotation speed sensor, 9-acceleration sensor, 10-bogie, 20-traction converter, 30-suspension mechanism, 100-anti-snaking device, 101-snaking data processing module, 102-control unit, 110-torque calculating module, 120-disturbance separating module, 121-current signal separating sub-module, 122-torque disturbance signal separating sub-module, 130-data analyzing module, 131-snaking frequency calculating sub-module, 132-snaking amplitude calculating sub-module, 140-harmonic injection parameter calculating module, 141-first delay link, 142-a second delay element, 143-a third delay element, 151-a first proportional element, 152-a second proportional element, 153-a third proportional element, 154-a fourth proportional element, 161-a first addition element, 162-a second addition element, 163-a third addition element, 171-a fourth delay element, 172-a fifth delay element, 173-a sixth delay element, 181-a fifth proportional element, 182-a sixth proportional element, 183-a seventh proportional element, 184-an eighth proportional element, 191-a fourth addition element, 192-a fifth addition element, 193-a sixth addition element, and 140-a harmonic injection parameter calculation module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 9, embodiments of the anti-snaking device and system for a train bogie according to the present invention are shown, and the present invention will be further described with reference to the drawings and embodiments.
Example 1
Referring to fig. 1, a schematic structural diagram of an embodiment of a bogie 10 applied to the anti-snaking device of a train bogie of the present invention is shown, the bogie 10 includes a wheel set 1, a frame 2 and a suspension mechanism 30, and is a multi-body system with mass, rigidity and damping. The suspension mechanism 30 further comprises a primary suspension mechanism 3, a secondary suspension mechanism 4 and a motor suspension mechanism 5. A suspension mechanism 3 is disposed between the frame 2 and the axle housing and includes a pivot arm positioning node, a suspension spring, and a suspension vertical damper. The secondary suspension mechanism 4 is arranged between the framework 2 and the train body and comprises an air spring, a secondary vertical shock absorber and a secondary transverse shock absorber. The traction motor 6 is mounted on the bogie 10 through a motor suspension mechanism 5. The current sensor 7 and the rotational speed sensor 8 are provided on the bogie 10, and the acceleration sensor 9 is provided on the side frame of the frame 2. The current sensor 7 is connected to the inlet wire of the traction motor 6 and is used for sampling the input current signal of the traction motor 6. The bogie 10 described in embodiment 1 reduces the anti-hunting damper as compared with the conventional railcar bogie, and the input current detection and the rotational speed detection of the traction motor 6 are necessary elements, and are usually detected by the current sensor 7 and the rotational speed sensor 8.
As shown in fig. 3, an embodiment of the anti-snaking device for a train bogie according to the present invention, the anti-snaking device 100 specifically includes:
the current sensor 7 is used for acquiring an input current signal of the traction motor 6;
the rotating speed sensor 8 is used for acquiring a current rotating speed signal of the traction motor 6;
the snaking motion data processing module 101 is used for calculating the snaking motion frequency and amplitude of the bogie 10 according to the input current of the traction motor 6 and the current rotating speed signal and generating the frequency and amplitude information of the harmonic current of the traction motor 6;
and the control unit 102 is used for controlling the traction converter 20 according to the frequency and amplitude information of the harmonic current of the traction motor 6, so that the traction converter 20 outputs the harmonic current with corresponding frequency and amplitude to the traction motor 6 and superposes the harmonic current with normal working current, and the harmonic current generates mechanical vibration with the same frequency and opposite phase with the snaking motion, thereby inhibiting the snaking motion of the bogie 10.
A block diagram of a system for detecting and injecting harmonic waves into a bogie anti-snaking device of a train based on input current of a traction motor is shown in figure 3. The traction motor 6 is mounted on the bogie 10 by a motor suspension mechanism 5. When the train runs at a high speed, once the bogie snaking motion occurs, the low-frequency periodic vibration of the wheel set 1 is transmitted to a rotating shaft of the traction motor 6 through the suspension mechanism 30, and the current sensor 7 and the rotating speed sensor 8 respectively acquire an input current signal and a current rotating speed signal of the traction motor 6 and transmit the input current signal and the current rotating speed signal to the snaking motion data processing module 101.
As shown in fig. 3, the crawling data processing module 101 further includes:
the torque calculation module 110 is used for calculating a current torque signal of the traction motor 6 according to the current rotating speed signal acquired by the rotating speed sensor 8;
the disturbance separation module 120 is used for receiving an input current signal acquired by the current sensor 7 and a current torque signal output by the torque calculation module 110, and extracting low-frequency harmonic current and low-frequency disturbance torque caused by snaking of the bogie 10;
the data analysis module 130 calculates the snaking motion frequency and amplitude of the current bogie 10 according to the low-frequency harmonic current and the low-frequency disturbance torque output by the disturbance separation module 120;
the harmonic injection parameter calculation module 140 calculates the frequency and amplitude of the harmonic current of the traction motor 6 according to the frequency and amplitude of the snaking motion output by the data analysis module 130.
The torque calculation module 110 further calculates a current torque signal of the traction motor 6 according to the following formula:
Figure GDA0002819777340000071
wherein n is the rotation speed of the traction motor, t is time, and K is the coefficient constant of the traction motor.
The frequency and amplitude of the current snaking motion of the bogie 10 are transmitted to the harmonic injection parameter calculation module 140, which is used for generating the frequency and amplitude information of the harmonic current of the traction motor and inputting the information to the control unit 102, controlling the traction converter 20 to enable the traction motor 6 to input the harmonic current with corresponding frequency and amplitude to be superposed with the original normal working current, and the harmonic current will generate the mechanical vibration with the same frequency and opposite phase with the snaking motion of the bogie, thereby inhibiting and eliminating the snaking motion of the bogie. Since the bogie 10 is coupled with the traction motor 6 through the motor suspension mechanism 5, the bogie 10 and the traction motor 6 generate snake motion simultaneously, and the motion frequency is consistent.
The disturbance separation module 120 further includes a current signal separation submodule 121, and the current signal separation submodule 121 further includes a first delay element 141, a second delay element 142, a third delay element 143, a first proportion element 151, a second proportion element 152, a third proportion element 153, a fourth proportion element 154, a first addition element 161, a second addition element 162, and a third addition element 163, and all the elements are connected according to a mathematical model structural relationship as shown in fig. 4 to form a digital low-pass FIR (Finite Impulse Response, abbreviation of Finite Impulse Response) filter. The current signal separation submodule 121 further performs high-frequency filtering on the current signal (i.e., the input current signal of the traction motor 6) acquired by the current sensor 7 according to the following transfer function, and filters out a high-frequency current component irrelevant to the low-frequency snaking frequency in the input current signal I, so as to separate a high-frequency interference current in the traction motor 6, and extract a low-frequency harmonic current caused by the snaking of the bogie 10:
y(t)＝k1*x(t)+k1*x(t-1)+k1*x(t-2)+k1*x(t-3)
wherein y (t) is a current effective signal output by the current signal separation submodule 121 at time t, x (t) is a current discrete sampling signal of the current signal separation submodule 121 at time t, x (t-1) is a current discrete sampling signal at time t-1, x (t-2) is a current discrete sampling signal at time t-2, x (t-3) is a current discrete sampling signal at time t-3, k is a current discrete sampling signal at time t-31The scaling coefficients of the various scaling elements in the current signal separation submodule 121.
As a typical embodiment of the present invention, the coefficient of each proportional element (i.e., multiplier) is set to 0.1. Since the frequency of the low frequency snaking motion is typically less than 5Hz, and the disturbance current delivered to the traction motor 6 is also of the same frequency, the snaking frequency is low relative to the operating frequency of 50Hz when the traction motor 6 is operating at high speed. In this embodiment, the current signal separation sub-module 121 may adopt a digital low-pass FIR filter structure, where the cut-off frequency of the filter is set to be less than 15Hz, and the low-frequency component is retained.
The disturbance separation module 120 further includes a moment disturbance signal separation submodule 122, where the moment disturbance signal separation submodule 122 further includes a fourth delay link 171, a fifth delay link 172, a sixth delay link 173, a fifth proportion link 181, a sixth proportion link 182, a seventh proportion link 183, an eighth proportion link 184, a fourth addition link 191, a fifth addition link 192, and a sixth addition link 193, and all the links are connected according to a mathematical model structural relationship shown in fig. 5 to form an FIR filter.
The moment disturbance signal separation submodule 122 further performs high-frequency filtering on the current torque signal output by the moment calculation module 110 according to the following transfer function, identifies and separates other high-frequency non-snaking moment disturbances, and extracts a low-frequency disturbance moment caused by the snaking motion of the bogie 10:
y′(t)＝k2*x′(t)+k2*x′(t-1)+k2*x′(t-2)+k2*x′(t-3)
in the formula, y ' (t) is a torque effective signal output by the torque disturbance signal separation submodule 122 at time t, x ' (t) is a torque discrete sampling signal of the torque disturbance signal separation submodule 122 at time t, x ' (t-1) is a torque discrete sampling signal at time t-1, x ' (t-2) is a torque discrete sampling signal at time t-2, x ' (t-3) is a torque discrete sampling signal at time t-3, and k is2The scaling coefficients of the various scaling elements in the sub-module 122 are separated for the moment disturbance signal.
It should be noted that, although the mathematical model structure of the moment perturbation signal separation sub-module 122 is still described here by taking an FIR filter as an example, other filters such as a kalman filter may be used to filter co-channel interference. In the present embodiment, high-frequency interference of the moment is filtered, that is, high-frequency moment fluctuation generated between the wheel tracks during the operation of the bogie 10 is filtered, so that a low-frequency moment fluctuation signal caused by hunting is retained. Here, the moment disturbance signal separation submodule 122 also adopts an FIR filter structure because the same-frequency disturbance problem is not considered at all.
As shown in fig. 3, the data analysis module 130 further includes a crawling frequency calculation sub-module 131, and the crawling frequency calculation sub-module 131 receives the low-frequency harmonic current and the low-frequency disturbance torque output by the disturbance separation module 120, and further calculates the crawling motion frequency f of the current bogie 10 according to the following formulav：
Figure GDA0002819777340000091
Figure GDA0002819777340000092
In the formula IfEffective value of current, f, for measuring the frequency of the hunting vibration generated by the traction motor 61For the fundamental frequency, I, of the input current of the traction motor 61The effective value of the input current fundamental wave of the traction motor 6 is shown, C (n, T, I) is a disturbance separation function, n is the harmonic frequency of the input current of the traction motor 6, the nth harmonic of the input current of the traction motor is directly obtained by a current sensor 7, and n is 1,2 and 3. T is a torque signal of the traction motor 6 output by the torque calculation module 110, I is an effective value of an input current of the traction motor 6, and Ic fLn () is a natural logarithm of the harmonic current value at the switching frequency of the traction converter 20. a. b is a structural parameter of the bogie 10, a is a traction motor torque disturbance separation weight coefficient, and b is a traction motor input current disturbance separation weight coefficient, and typical values of a are 0.05 and b are 0.05. For the value of the parameter n in the disturbance separation function C (n, T, I), as n increases, the amplitude of the corresponding harmonic current also decreases, and is generally equal to 15.
As shown in fig. 3, the data analysis module 130 further includes a snaking amplitude calculation sub-module 132, and the snaking amplitude calculation sub-module 132 receives the low-frequency harmonic current and the low-frequency disturbance torque output by the disturbance separation module 120, and further calculates a snaking motion amplitude a (f) of the current bogie 10 according to the following formulav)：
Figure GDA0002819777340000093
In the formula, A (f)v) To the frequency of vibration fvAmplitude of vibration of (f)v2Is fvSquare of (1), mkAre conversion coefficients.
Conversion factor mkFurther calculated according to the following formula:
Figure GDA0002819777340000094
where k is an arbitrary test frequency in the offline test, I1' is the effective value of the input current fundamental wave of the traction motor 6 in the offline test. f. ofv'The frequency of the hunting motion of the bogie added for the off-line test is the frequency of the vibration artificially applied to the bogie 10 at the test station, and is usually in the range of 0 to 5 Hz. A' (f)v') For frequency f in off-line testingv'The measured amplitude of the hunting of the bogie.
As a typical specific embodiment of the invention, the harmonic frequency n of the input current of the traction motor 6 is less than or equal to 20, the torque disturbance separation weight coefficient a of the traction motor is further 0.01-1, the input current disturbance separation weight coefficient b of the traction motor is further 0.01-1, and any test frequency k in an off-line test is further 0-10 Hz.
As shown in fig. 6, which is a structural schematic block diagram of the harmonic injection parameter calculation module 140, the calculated snaking frequency f of the bogie 10 is obtainedvAnd amplitude A (f) of hunting of the bogie 10v) The input harmonic injection parameter is calculated by the module 140, and the amplitude I of the injected harmonic current space vector is obtained after the comparison and PI controlsI, | and the angular frequency ω of the injected harmonic current space vectors. In the comparison step, the target values of the snaking amplitude and the snaking frequency are both 0, that is, the control target is the snaking amplitude and the snaking frequency are both 0, as long as the snaking amplitude A (f) is providedv) And frequency of snaking motion fvNot 0, harmonicThere is a control output from the wave injection parameter calculation module 140. Wherein the amplitude I of the space vector of the injected harmonic currentsI, | and the angular frequency ω of the injected harmonic current space vectorsCalculated according to the following formulas, respectively:
Figure GDA0002819777340000101
Figure GDA0002819777340000102
wherein, KpThe proportional coefficient of the PI control link is a value range of 1-20, and is generally determined according to the field debugging condition, TiThe integral coefficient value is 0.1-10, and s is a Laplace transform operator.
As shown in fig. 9, the hunting resistance effect data of the apparatus for preventing hunting of a railway vehicle according to the embodiment of the present invention is compared with that of the conventional hunting resistance damper. As is apparent from the figure, when the running speed of the train exceeds 300km/h, the restraining capability of the conventional anti-snaking damper for the snaking of the wheel pair, namely the bogie, begins to sharply decrease, and the limit cycle value of the traversing of the wheel pair is from approximately 1mm when the running speed of the train is 300km/h to 7mm when the running speed of the train reaches 500 km/h. The anti-snaking device 100 based on the harmonic injection of the traction motor described in the embodiment 1 keeps excellent inhibition effect on the transverse movement of the wheel pair, namely the snaking of the bogie, in the whole test speed range of the train operation, and the limit value of the transverse movement of the wheel pair does not exceed 1mm in the whole test speed range of 50-550 km/h.
Example 2
As shown in fig. 1 to fig. 3, an embodiment of a hunting-resistant system for a train bogie according to the present invention specifically includes: the anti-snaking device 100 according to embodiment 1, the traction inverter 20, and the traction motor 6 mounted on the bogie 10. When the train runs and the bogie snaking motion occurs, the low-frequency periodic vibration of the wheel set 1 is transmitted to the rotating shaft of the traction motor 6 through the suspension mechanism 30. The anti-snaking device 100 collects an input current and a current rotating speed signal of the traction motor 6, calculates the snaking motion frequency and amplitude of the bogie 10, and generates frequency and amplitude information of harmonic current of the traction motor 6 to control the traction converter 20 to output the harmonic current with corresponding frequency and amplitude to the traction motor 6 and superimpose normal working current, wherein the harmonic current generates mechanical vibration with the same frequency and the opposite phase of the snaking motion, so that the snaking motion of the bogie 10 is inhibited.
Two groups of wheel sets 1 belonging to the same bogie 10 are respectively provided with a traction motor 6, and the traction motors 6 are arranged on the bogie 10 through a motor suspension mechanism 5. The two traction motors 6 or any one of the traction motors 6 is connected with an anti-snaking device 100. In the embodiment shown in fig. 2, an anti-snaking device 100 is connected to both traction motors 6.
Example 3
As shown in fig. 8, a method for preventing a train bogie from snaking based on the device of embodiment 1 specifically comprises the following steps:
s10) acquiring the input current and the current rotating speed signal of the traction motor 6;
s20) calculating the snaking frequency and amplitude of the bogie 10 according to the input current of the traction motor 6 and the current rotating speed signal;
s30) generating frequency and amplitude information of harmonic current of the traction motor 6 according to the snaking frequency and amplitude of the bogie 10;
s40) controlling the traction converter 20 to output harmonic current with corresponding frequency and amplitude to the traction motor 6 and superimposing normal working current according to the frequency and amplitude information of the harmonic current of the traction motor 6;
s50) generates mechanical vibration of the same frequency and opposite phase to the hunting motion by the harmonic current output to the traction motor 6, thereby suppressing the hunting motion of the bogie 10.
Step S20) further includes the following processes:
s201) calculating a current torque signal of the traction motor 6 according to the current rotating speed signal;
s202) extracting low-frequency harmonic current and low-frequency disturbance torque caused by snaking of the bogie 10 from the input current and the current torque signal;
s203) calculating the snaking motion frequency and amplitude of the present bogie 10 from the low-frequency harmonic current and the low-frequency disturbance torque.
In step S201), the current torque signal of the traction motor 6 is further calculated according to the following formula:
Figure GDA0002819777340000111
wherein n is the rotation speed of the traction motor, t is time, and K is the coefficient constant of the traction motor.
In step S202), the input current signal is further high-frequency filtered according to the following transfer function, and a low-frequency harmonic current caused by the hunting of the bogie 10 is extracted:
y(t)＝k1*x(t)+k1*x(t-1)+k1*x(t-2)+k1*x(t-3) (1)
wherein y (t) is a current effective signal output at the time t, x (t) is a current discrete sampling signal at the time t, x (t-1) is a current discrete sampling signal at the time t-1, x (t-2) is a current discrete sampling signal at the time t-2, x (t-3) is a current discrete sampling signal at the time t-3, k is1Is a scaling factor.
In step S202), the current torque signal is further high-frequency filtered according to the following transfer function, and a low-frequency disturbance torque caused by the snaking of the bogie 10 is extracted:
y′(t)＝k2*x′(t)+k2*x′(t-1)+k2*x′(t-2)+k2*x′(t-3) (2)
in the formula, y ' (t) is a moment effective signal output at the time t, x ' (t) is a moment discrete sampling signal at the time t, x ' (t-1) is a moment discrete sampling signal at the time t-1, x ' (t-2) is a moment discrete sampling signal at the time t-2, x ' (t-3) is a moment discrete sampling signal at the time t-3, and k is2Is a scaling factor.
In step S203), further according to the following formulaCalculating the frequency f of hunting of the current bogie 10v：
Figure GDA0002819777340000121
Figure GDA0002819777340000122
In the formula IfEffective value of current, f, for measuring the frequency of the hunting vibration generated by the traction motor 61Is the fundamental frequency, I, of the input current of the traction motor 61Is the effective value of the fundamental wave of the input current of the traction motor 6, C (n, T, I) is a disturbance separation function, n is the harmonic frequency of the input current of the traction motor 6, T is the torque signal of the traction motor 6 output by the torque calculation module 110, I is the effective value of the input current of the traction motor 6,
Figure GDA0002819777340000123
the harmonic current value at the switching frequency of the traction converter 20 is represented by ln () which is a natural logarithm, a which is a traction motor torque disturbance separation weight coefficient, and b which is a traction motor input current disturbance separation weight coefficient.
In step S203), the hunting amplitude a (f) of the current bogie 10 is further calculated according to the following formulav)：
Figure GDA0002819777340000124
In the formula, A (f)v) To the frequency of vibration fvAmplitude of vibration of (f)v2Is fvSquare of (1), mkAre conversion coefficients.
Conversion coefficient m in step S203)kFurther calculated according to the following formula:
Figure GDA0002819777340000125
where k is an arbitrary test frequency in the offline test, I1' is the effective value of the fundamental wave of the input current of the traction motor 6 in the off-line test, fv'For bogie snaking frequency, A' (f), added in off-line testingv') For frequency f in off-line testsv'The measured amplitude of the hunting of the bogie.
As a typical specific embodiment of the invention, the harmonic frequency n of the input current of the traction motor 6 is less than or equal to 20, the torque disturbance separation weight coefficient a of the traction motor is further 0.01-1, and the input current disturbance separation weight coefficient b of the traction motor is further 0.01-1.
As shown in fig. 9, the conversion coefficient m in step S203)kFurther obtained by the following process:
s2031) mounting the bogie 10 on a vibration test stand;
s2032) mounting the acceleration sensor 9 on the bogie 10 for measuring the snaking frequency and amplitude of the bogie 10;
s2033) starting the traction motor 6 to run at a speed from 0 to the maximum rotating speed, and adding 0-5 Hz of snake-running vibration through a vibration test bench; collecting the input current signal of the traction motor 6 and the vibration frequency spectrum of the bogie 10 in the whole process, and calculating the input current fundamental wave effective value I1' and extracting the snaking frequency f of the bogiev'And frequency fv'At the measured amplitude A' (f) of the hunting of the bogiev')；
S2034) calculating the frequency k ═ f according to equation (6)v'Time conversion coefficient mkThe numerical value of (c).
The traction motor 6 runs at a speed from 0 to the maximum rotating speed, and snakes are artificially added to vibrate at 0-5 Hz. The current sensor 7 and the rotating speed sensor 8 collect the current, the rotating speed and the vibration of the traction motor 6 and the vibration value (including the snaking frequency) of the bogie 10 in the whole operation process. Calculate mkNeed to measure fundamental current I'1Snake frequency fv'And a snake amplitude A' (f)v') Three parameters, according to formula (6), l'1Namely the standard power frequency 50Hz three-phase alternating current effective value. The input quantity being artificially generatedFrequency f of hunting of the bogiev'In the range of 0-5 Hz. In the process of applying 0-5 Hz artificial vibration, the artificially generated amplitude A' (f) of the snaking motion of the bogie is recorded at the same timev') The two quantities are then substituted into equation (6) and the calculated frequency k ═ f is calculatedv'M under the conditionkNumerical values.
As a typical embodiment of the invention, any test frequency k in the off-line test is further 0-10 Hz.
By implementing the technical scheme of the train bogie anti-snaking device and the train bogie anti-snaking system, which are described in the specific embodiment of the invention, the following technical effects can be achieved:
(1) according to the device and the system for preventing the snaking motion of the train bogie, which are described in the specific embodiment of the invention, the snaking active control of the high-speed train bogie based on the injection of the harmonic current of the traction motor is adopted, and the harmonic current is injected into the traction motor suspended on the bogie, so that the traction motor generates vibration with the same frequency and opposite phase with the snaking motion of the bogie, and the technical problem of the snaking motion of the bogie is well relieved and eliminated;
(2) according to the train bogie meandering-prevention device and the train bogie meandering-prevention system, on the premise that the meandering-prevention shock absorber and other meandering-prevention hardware structures are not added, harmonic current is directly injected into the traction motor according to the structural parameters of the current suspension system, so that the technical problem of bogie meandering instability in a high-speed running state of a train is thoroughly solved and eliminated, the structure is greatly simplified, the cost is reduced, system fault points are reduced, the system reliability is improved, and the train bogie meandering-prevention device and the train bogie meandering-prevention system have important theoretical significance and engineering application value.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or equivalent modifications, without departing from the spirit and scope of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.

Claims (10)

1. An anti-hunting device for a train bogie, comprising:
the current sensor (7) is used for acquiring an input current signal of the traction motor (6);
the rotating speed sensor (8) is used for acquiring a current rotating speed signal of the traction motor (6);
the snaking motion data processing module (101) is used for calculating the snaking motion frequency and amplitude of the bogie (10) according to the input current and the current rotating speed signal of the traction motor (6) and generating the frequency and amplitude information of the harmonic current of the traction motor (6);
and the control unit (102) is used for controlling the traction converter (20) according to the frequency and amplitude information of the harmonic current of the traction motor (6), so that the traction converter (20) outputs the harmonic current with corresponding frequency and amplitude to the traction motor (6) and superposes the harmonic current with normal working current, and the harmonic current generates mechanical vibration with the same frequency and opposite phase with the snaking motion, thereby inhibiting the snaking motion of the bogie (10).
2. The apparatus for preventing hunting according to claim 1, wherein the hunting data processing module (101) comprises:
the torque calculation module (110) is used for calculating a current torque signal of the traction motor (6) according to a current rotating speed signal acquired by the rotating speed sensor (8);
the disturbance separation module (120) is used for receiving an input current signal acquired by the current sensor (7) and a current torque signal output by the torque calculation module (110), and extracting low-frequency harmonic current and low-frequency disturbance torque caused by snaking of the bogie (10);
the data analysis module (130) is used for calculating the snaking motion frequency and amplitude of the current bogie (10) according to the low-frequency harmonic current and the low-frequency disturbance torque output by the disturbance separation module (120);
and the harmonic injection parameter calculation module (140) is used for calculating the frequency and the amplitude of the harmonic current of the traction motor (6) according to the snaking motion frequency and the amplitude output by the data analysis module (130).
3. The anti-snaking device for train bogies according to claim 2, characterized in that said disturbance separation module (120) comprises a current signal separation submodule (121), said current signal separation submodule (121) high-frequency filters the current signal picked up by said current sensor (7) according to the following transfer function and extracts the low-frequency harmonic currents caused by the snaking of said bogie (10):
y(t)＝k1*x(t)+k1*x(t-1)+k1*x(t-2)+k1*x(t-3)
wherein y (t) is a current effective signal output by the current signal separation submodule (121) at the time t, x (t) is a current discrete sampling signal of the current signal separation submodule (121) at the time t, x (t-1) is a current discrete sampling signal at the time t-1, x (t-2) is a current discrete sampling signal at the time t-2, x (t-3) is a current discrete sampling signal at the time t-3, and k is a current discrete sampling signal at the time t-31The scaling coefficients of the scaling elements in the current signal separation submodule (121) are obtained.
4. The train bogie hunting resistance apparatus according to claim 2, wherein the disturbance separation module (120) further comprises a moment disturbance signal separation submodule (122), and the moment disturbance signal separation submodule (122) performs high-frequency filtering on the torque signal output by the moment calculation module (110) according to the following transfer function, and extracts low-frequency disturbance torque caused by hunting of the bogie (10):
y′(t)＝k2*x′(t)+k2*x′(t-1)+k2*x′(t-2)+k2*x′(t-3)
in the formula, y ' (t) is a torque effective signal output by the torque disturbance signal separation submodule (122) at the time t, x ' (t) is a torque discrete sampling signal of the torque disturbance signal separation submodule (122) at the time t, x ' (t-1) is a torque discrete sampling signal at the time t-1, x ' (t-2) is a torque discrete sampling signal at the time t-2, x ' (t-3) is a torque discrete sampling signal at the time t-3, and k is a moment effective signal output by the torque disturbance signal separation submodule (122) at the time t2The scaling coefficients of the individual scaling elements in the submodule (122) are separated for the moment disturbance signal.
5. The apparatus for preventing hunting of a train bogie according to claim 2,3 or 4, wherein the data analysis module (130) comprises a hunting frequency calculation submodule (131), and the hunting frequency calculation submodule (131) receives the low-frequency harmonic current and the low-frequency disturbance torque output from the disturbance separation module (120), and calculates a hunting frequency f of the current bogie (10) according to the following formulav：
Figure FDA0002665880970000021
Figure FDA0002665880970000022
In the formula IfEffective value of the current for measuring the frequency of the hunting vibrations generated by the traction motor (6), f1Is the fundamental frequency, I, of the input current of the traction motor (6)1Is the effective value of the input current fundamental wave of the traction motor (6), C (n, T, I) is a disturbance separation function, n is the harmonic frequency of the input current of the traction motor (6), T is the torque signal of the traction motor (6) output by the torque calculation module (110), I is the effective value of the input current of the traction motor (6),
Figure FDA0002665880970000023
is the harmonic current value at the switching frequency of the traction converter (20), ln () is the natural logarithm, a is the traction motor torque disturbanceAnd b is a disturbance separation weight coefficient of the input current of the traction motor.
6. The apparatus for preventing hunting of a train bogie according to claim 5, wherein the data analysis module (130) further comprises a hunting amplitude calculation submodule (132), and the hunting amplitude calculation submodule (132) receives the low frequency harmonic current and the low frequency disturbance torque outputted from the disturbance separation module (120) and calculates a hunting amplitude A (f) of the current bogie (10) according to the following formulav)：
Figure FDA0002665880970000031
In the formula, A (f)v) To the frequency of vibration fvAmplitude of vibration of (f)v2Is fvSquare of (1), mkAre conversion coefficients.
7. The train bogie anti-hunting device according to claim 6, wherein the conversion factor mkCalculated according to the following formula:
Figure FDA0002665880970000032
where k is an arbitrary test frequency in the offline test, I1Is the effective value of the fundamental wave of the input current of the traction motor (6) in the off-line test, fv'the frequency of hunting of the bogie, A', added to the off-line test (f)v') is the frequency f in the off-line testv' measured amplitude of truck hunting.
8. The apparatus of claim 7, wherein: the harmonic frequency n of the input current of the traction motor (6) is less than or equal to 20, the torque disturbance separation weight coefficient a of the traction motor is 0.01-1, the input current disturbance separation weight coefficient b of the traction motor is 0.01-1, and any test frequency k in an offline test is 0-10 Hz.
9. An anti-hunting system for a train bogie, comprising: an anti-snaking device (100) according to any one of claims 1 to 8, a traction converter (20), and a traction motor (6) mounted on the bogie (10); when the train runs and the bogie does snaking movement, the low-frequency periodic vibration of the wheel set (1) is transmitted to a rotating shaft of the traction motor (6) through the suspension mechanism (30); the anti-snaking device (100) collects input current and current rotating speed signals of the traction motor (6), calculates snaking motion frequency and amplitude of the bogie (10), generates frequency and amplitude information of harmonic current of the traction motor (6), controls the traction converter (20) to output the harmonic current with corresponding frequency and amplitude to the traction motor (6) and superimposes normal working current, and the harmonic current generates mechanical vibration with the same frequency and opposite phase with snaking motion, so that snaking motion of the bogie (10) is inhibited.
10. The train bogie hunting resistance system of claim 9, wherein: two groups of wheel sets (1) belonging to the same bogie (10) are respectively provided with a traction motor (6), and the traction motors (6) are arranged on the bogie (10) through motor suspension mechanisms (5); the two traction motors (6) or any one traction motor (6) is connected with an anti-snaking motion device (100).
CN202010918606.9A 2020-09-04 2020-09-04 Anti-snaking movement device and system for train bogie Active CN112383247B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010918606.9A CN112383247B (en) 2020-09-04 2020-09-04 Anti-snaking movement device and system for train bogie

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010918606.9A CN112383247B (en) 2020-09-04 2020-09-04 Anti-snaking movement device and system for train bogie

Publications (2)

Publication Number Publication Date
CN112383247A CN112383247A (en) 2021-02-19
CN112383247B true CN112383247B (en) 2022-06-10

Family

ID=74586101

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010918606.9A Active CN112383247B (en) 2020-09-04 2020-09-04 Anti-snaking movement device and system for train bogie

Country Status (1)

Country Link
CN (1) CN112383247B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114861741B (en) * 2022-07-11 2022-09-13 西南交通大学 Snake state identification method based on wheel set transverse displacement

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB153582A (en) * 1919-11-06 1921-03-03 Vickers Electrical Co Ltd Improvements in electrical speed regulator systems
CN102706569B (en) * 2012-07-06 2015-04-29 西南交通大学 Method and device for detecting snaking motion instability of high speed train bogie
CN103674582B (en) * 2013-11-29 2016-08-17 中车青岛四方机车车辆股份有限公司 Movement stability of railway vehicle bogie determination methods and device
CN104787074B (en) * 2015-04-09 2017-08-22 大连交通大学 Typotron dynamic design approach based on anti-snake frequency band energy-absorbing mechanism
CN108985282B (en) * 2018-09-21 2021-04-02 中国铁道科学研究院集团有限公司铁道科学技术研究发展中心 Signal processing method for identifying low-taper crawling and shaking characteristics of high-speed motor train unit

Also Published As

Publication number Publication date
CN112383247A (en) 2021-02-19

Similar Documents

Publication Publication Date Title
Li et al. Linear and non-linear skyhook damping control laws for active railway suspensions
CN104787074B (en) Typotron dynamic design approach based on anti-snake frequency band energy-absorbing mechanism
CN112383247B (en) Anti-snaking movement device and system for train bogie
CN104032629A (en) On-line vertical track long wave irregularity monitoring method and system
CN110667632B (en) Device and method for controlling abnormal shaking of vehicle body based on anti-snaking shock absorber
CN110155103B (en) High-speed train semi-active suspension control system and method based on LQG control
Wu et al. ToMFIR-based incipient fault detection and estimation for high-speed rail vehicle suspension system
Sun et al. Numerical investigation into the critical speed and frequency of the hunting motion in railway vehicle system
CN112373501B (en) Anti-snaking movement method of train bogie
Feng et al. Dynamic performance of medium speed maglev train running over girders: field test and numerical simulation
Wu et al. Influence of DC-link voltage pulsation of transmission systems on mechanical structure vibration and fatigue in high-speed trains
JP2022504060A (en) Anti-yaw damper control method and equipment
JP5662298B2 (en) Anomaly detection method and anomaly detection apparatus for pillow spring system
Abouzeid et al. Torsional vibration suppression in railway traction drives
Ma et al. Full scale roller rig simulation for railway vehicles
Mei et al. Kalman filter for the state estimation of a 2-axle railway vehicle
Wu et al. TSVD regularization-parameter selection method based on Wilson-θ and its application to vertical wheel-rail force identification of rail vehicles
Mei et al. A mechatronic approach for anti-slip control in railway traction
Fan et al. Fault detection of railway vehicle suspension systems
Guo et al. Coupling vibration analysis of high-speed maglev train-viaduct systems with control loop failure
Lee et al. Roller rig tests of a semi-active suspension system for a railway vehicle
Bruni et al. Active control of railway vehicles to avoid hunting instability
JP2012111319A (en) Abnormality detection method and abnormality detection device of axle spring system
Xiaoyi Study on dynamic behavior of CRH380B type high speed vehicle with suspension component failures
Chen et al. Modeling of Vertical Vibration System of High Speed Train and Optimization of Suspension Parameters

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant