CN112896216A - Active train tilting control method and system - Google Patents
Active train tilting control method and system Download PDFInfo
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- CN112896216A CN112896216A CN202110155852.8A CN202110155852A CN112896216A CN 112896216 A CN112896216 A CN 112896216A CN 202110155852 A CN202110155852 A CN 202110155852A CN 112896216 A CN112896216 A CN 112896216A
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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
- B61F5/38—Arrangements or devices for adjusting or allowing self- adjustment of wheel axles or bogies when rounding curves, e.g. sliding axles, swinging axles
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- 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
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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
- B61F5/38—Arrangements or devices for adjusting or allowing self- adjustment of wheel axles or bogies when rounding curves, e.g. sliding axles, swinging axles
- B61F5/383—Adjustment controlled by non-mechanical devices, e.g. scanning trackside elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The embodiment of the invention relates to a train active tilting control method and a train active tilting control system, which comprise the following steps: the detection device collects the unbalanced centrifugal acceleration and the ultrahigh time-varying rate of the vehicle, and the tilting controller determines whether active tilting control and tilting direction are needed according to the processed unbalanced centrifugal acceleration and the ultrahigh time-varying rate; when active tilting control is determined to be needed, the tilting controller calculates a required tilting angle of a train body according to the processed unbalanced centrifugal acceleration, and calculates data sending delay according to the train length of the train and the running speed of the train; the tilting controller sends the tilting angle required by the vehicle body to the action controller of the corresponding tilting actuating mechanism according to the data sending delay; the action controller determines the action stroke and the action speed of the tilting execution mechanism according to the tilting angle required by the vehicle body, and generates a tilting action control instruction to control the tilting actuator of the tilting execution mechanism to control the active tilting of the vehicle body according to the action stroke and the action speed.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a train active tilting control method and a train active tilting control system.
Background
The high speed and comfort are the development trend of rail vehicles, but due to the limitation of line conditions, such as the characteristics of large quantity of curve segments, more small-radius curves and the like, the unbalanced centrifugal force of the vehicle in the turning process can be increased by simply increasing the running speed of the vehicle, and the comfort of passengers and the safety and stability of the vehicle are influenced. Considering the factors of high cost, high maintenance cost, high technical requirements and the like of the construction of a high-speed railway, the vehicle is expected to be transformed on the existing railway, so that the aim of improving the running speed of the vehicle is fulfilled.
The pendulum train is an effective technical measure for accelerating the speed of the existing line, and the action principle is shown in figure 1. The method is characterized in that when a vehicle enters a curve section, line information is measured by a detection system, and the line information is transmitted to a control system to calculate an inclination angle which needs to be additionally generated by the vehicle body, namely an additional super-high is added, so that the centripetal force is increased, most of the over-speed centrifugal force is balanced, the train can stably pass through the curve at a high speed, the centrifugal force felt by passengers is greatly reduced, and the riding comfort is obviously improved.
How to scientifically and reasonably control the active tilting device through the control calculation of the control system can meet the requirements of the safety, the stability and the riding comfort of train operation at the same time, and is the key problem discussed in the invention.
Disclosure of Invention
The invention aims to provide a train active tilting control method and a train active tilting control system, wherein a line curve and a vehicle running condition are obtained through a detection device, a tilting controller calculates a vehicle body tilting angle beta and sends an instruction to a tilting actuator, the vehicle body tilting angle beta is converted into an actuating stroke and an actuating speed of a tilting actuator through the control of an actuating controller, and finally a set stroke is achieved, so that the vehicle body tilting is realized.
Therefore, in a first aspect, an embodiment of the present invention provides a train active tilting control method, including: the detection device collects the unbalanced centrifugal acceleration and the ultrahigh time-varying rate of the vehicle, and the tilting controller determines whether active tilting control and tilting direction are needed according to the processed unbalanced centrifugal acceleration and the ultrahigh time-varying rate;
when active tilting control is determined to be needed, the tilting controller calculates a required tilting angle of a train body according to the processed unbalanced centrifugal acceleration, and calculates data sending delay according to the train length of the train and the running speed of the train;
the tilting controller sends the tilting angle required by the vehicle body to the action controller of the corresponding tilting actuating mechanism according to the data sending delay;
and the action controller determines the action stroke and the action speed of the tilting actuating mechanism according to the tilting angle required by the vehicle body, and generates a tilting action control command to control the tilting actuator of the tilting actuating mechanism to control the active tilting of the vehicle body according to the action stroke and the action speed.
Preferably, the detecting device collects the unbalanced centrifugal acceleration and the ultrahigh time rate of the vehicle, and the determining, by the roll controller, whether active roll control is required and the roll direction according to the processed unbalanced centrifugal acceleration and the ultrahigh time rate specifically includes:
the detection device detects the unbalanced centrifugal acceleration of the vehicle in real time, and after first filtering processing is carried out on the unbalanced centrifugal acceleration, the processed unbalanced centrifugal acceleration is obtained;
determining whether the processed unbalanced centrifugal acceleration reaches a first set threshold;
when the ultrahigh time-rate reaches a first set threshold value, the detection device acquires the ultrahigh time-rate, and after second filtering processing, the processed ultrahigh time-rate is obtained;
and determining a logic state parameter corresponding to the running of the train according to the processed ultrahigh time-varying rate, and determining whether active tilting control and tilting direction are required.
Further preferably, the determining of the logical state parameters corresponding to train running according to the processed ultrahigh time-varying rate and the determining of whether active tilting control is required and the tilting direction specifically include:
determining the state parameters of the logic state corresponding to the train running according to the processed ultrahigh time-varying rate; the state parameters of the logic states include: the first state parameter is used for representing that the train does not run on the moderate curve, the second state parameter is used for representing the ultrahigh increasing state on the moderate curve, and the third state parameter is used for representing the ultrahigh decreasing state on the moderate curve;
when the state parameter of the logic state is a first state parameter, active tilt control is not required;
when the state parameter of the logic state is a second state parameter, active tilt control is required, and the tilt direction is towards the inner rail direction;
and when the state parameter of the logic state is a third state parameter, active tilt control is required, and the tilt direction faces to the outer rail direction.
Further preferably, the method further comprises: and determining the processed signal delay compensation time of the unbalanced centrifugal acceleration according to the duration of the logic state corresponding to the running of the train.
Preferably, the calculating, by the roll controller, the roll angle required by the vehicle body according to the processed unbalanced centrifugal acceleration specifically includes:
calculating a required tilting angle of the vehicle body through a formula beta ═ arcsin ((a' -a)/g);
wherein a is the unbalanced centrifugal acceleration; a' is a desired acceleration value; g is the acceleration of gravity; beta is the required tilting angle of the vehicle body.
Further preferably, the determining, by the action controller, the action stroke of the tilt actuator according to the tilt angle required by the vehicle body specifically includes:
calculating the actuating stroke by the formula N ═ L/2/I ═ beta/(360/R);
wherein L is the center distance between the actuators at two sides; i is the length of the torsion arm; r is the reduction ratio of a speed reducer in the tilting actuating mechanism;
the action controller determines the action speed of the tilting actuating mechanism according to the tilting angle required by the vehicle body, and specifically comprises the following steps:
calculating the actuating speed according to a formula r-N/t;
and t is the preset time required for finishing the tilting action under all working conditions.
Further preferably, the method further comprises:
setting the maximum Tilt Angle βmax；
When beta is greater than betamaxThen, the formula is represented by N ═ L/2/I ═ betamax/(360/R) the actuation stroke is calculated.
Preferably, the determining, by the action controller, the actuation stroke and the actuation speed of the tilt actuator according to the tilt angle required by the vehicle body, and generating the tilt action control command to control the tilt actuator of the tilt actuator to control the active tilt of the vehicle body according to the actuation stroke and the actuation speed specifically includes:
the monitoring feedback device detects the height variation of the tilting actuator and/or the inclination variation of the vehicle body to generate a tilting angle feedback signal;
and the action controller determines the action stroke and the action speed of the tilting actuating mechanism according to the tilting angle required by the vehicle body and the tilting angle feedback signal and generates a tilting action control command.
In a second aspect, an embodiment of the present invention provides a control system for executing the active train tilting control method according to the first aspect, where the control system includes the detection device, the tilting controller, and at least one tilting actuator according to the first aspect;
the detection device includes: acceleration sensors, velocity sensors and gyroscopes;
the tilt executing mechanism comprises an action controller and a tilt actuator.
Preferably, the control system further comprises a monitoring feedback device;
the monitoring feedback device comprises a displacement sensor and/or an angular displacement sensor.
According to the train active tilting control method provided by the embodiment of the invention, a line curve and a vehicle running condition are obtained through the detection device, the tilting angle beta of the train body is calculated through the tilting controller, an instruction is issued to the tilting execution mechanism, the tilting angle beta of the train body is converted into the actuating stroke and the actuating speed of the tilting actuator through the control of the actuating controller, and finally the set stroke is reached, so that the tilting of the train body is realized.
Drawings
FIG. 1 is a schematic view of a pendulum train principle applied in the prior art;
fig. 2 is a flowchart of a train active tilting control method according to an embodiment of the present invention;
FIG. 3 is a block diagram of a control system provided by an embodiment of the present invention;
FIG. 4 is a process diagram of a specific control algorithm of the control method executed by the control system according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of an active tilting apparatus controlled by a control method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an active tilting device according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
The embodiment of the invention provides a train active tilting control method, which is used for controlling the active tilting of a train body in the running process of a train.
Fig. 2 is a flowchart of a train active roll control method according to an embodiment of the present invention, and fig. 3 is a block diagram of a control system according to an embodiment of the present invention.
For ease of understanding, the components of the control system will be described with reference to fig. 3.
The control system of the invention is used for executing the active train tilting control method of the invention, and comprises the following steps: the device comprises a detection device 1, a tilting controller 2 and at least one tilting execution mechanism 3;
the detection device 1 may specifically comprise: an acceleration sensor 11, a speed sensor 12, and a gyroscope 13; the acceleration sensor 11 is arranged on a front end bogie of a head vehicle and is used for measuring the unbalanced centrifugal acceleration a of the vehicle; the speed sensor 12 is arranged on a front end bogie of the head car and used for measuring the running speed of the car; and the gyroscope 13 is arranged on a front end bogie of the head car and used for measuring the ultrahigh time-varying rate of the track.
The tilt controller 2 receives a signal from the detection device 1, determines whether active tilt control and the tilt direction are necessary, and calculates a vehicle body tilt angle β.
Each tilt actuator 3 is mounted on a bogie and comprises an actuator control 31 and a tilt actuator 32. The actuator controller 31 converts the vehicle body tilting angle β into the operating stroke and operating speed of the tilting actuator 32, and controls the tilting actuator 32 to operate to tilt the vehicle body.
The control system further comprises a monitoring feedback device 4, and particularly can comprise a displacement sensor 41 and/or an angular displacement sensor 42 arranged on the vehicle body. The height difference of the two sides of the vehicle body can be measured by the displacement sensor 41 or the angular displacement sensor 42, and the angle of the vehicle body can be calculated; or the inclination angle of the vehicle body is measured by the angular displacement sensor 42 and fed back to the action controller 31 for closed-loop feedback control.
In a specific control method, particularly for a high-speed train, specific situations such as a delay of signal processing, a transmission delay of a control signal of each train body, and the like are also considered. The following describes the flow of the active tilt control method.
Referring to fig. 2, the active tilt control method according to the present invention may be performed mainly as follows.
specifically, the detection device detects the unbalanced centrifugal acceleration of the vehicle in real time through the acceleration sensor, and after first filtering processing is carried out on the unbalanced centrifugal acceleration, the processed unbalanced centrifugal acceleration is obtained; the first filtering process uses a low-pass filter to filter the lateral vibration acceleration of the vehicle body caused by track irregularity, but in practical applications, this causes a delay in signal transmission, so that it is necessary to compensate for the delay of the acceleration by using the ultra-high time-rate measured by the gyroscope, and the compensation time will be described later.
Determining whether the processed unbalanced centrifugal acceleration reaches a first set threshold value; when the vehicle enters the curve when the first set threshold is reached, the detecting device obtains the ultrahigh time-rate through the gyroscope, and after second filtering processing is carried out, the processed ultrahigh time-rate is obtained; in practice, the actually measured ultra-high time-varying rate signal is used after being processed properly, but the signal does not need to be filtered smoothly, so the delay of the gyro filter is smaller.
And determining a logic state parameter corresponding to the running of the train according to the processed ultrahigh time-varying rate, and determining whether active tilting control and tilting direction are required. Wherein the state parameters of the logic states include: the first state parameter is used for representing that the train does not run on the moderate curve, the second state parameter is used for representing the ultrahigh increasing state on the moderate curve, and the third state parameter is used for representing the ultrahigh decreasing state on the moderate curve; when the state parameter of the logic state is the first state parameter, active tilt control is not required; when the state parameter of the logic state is a second state parameter, active tilt control is required, and the tilt direction is towards the inner rail direction; and when the state parameter of the logic state is a third state parameter, active tilt control is required, and the tilt direction faces to the outer rail direction.
In one specific example, the change of the line outer rail overhigh, namely the overhigh time rate is measured by a gyroscope installed on a bogie, so that whether the locomotive enters/exits the transition curve or not is judged, and three logic states are given, namely 0 is not on the transition curve, the overhigh on the transition curve is increased to be 1, and the overhigh on the transition curve is decreased to be 1. The logic states correspondingly control whether the vehicle body tilts or not and the tilting direction, and the duration time of the logic states is the compensation time. In a specific example, this time compensation may be implemented in the form of adding a fixed increment to compensate for the actuator rotational angle, i.e., the difference in rotational angle due to signal delay.
specifically, the required roll angle of the vehicle body can be calculated by the formula β ═ arcsin ((a' -a)/g); wherein a is the unbalanced centrifugal acceleration; a' is a desired acceleration value; g is the acceleration of gravity; beta is the required tilting angle of the vehicle body.
because the detection device detects parameters of the vehicle head, for each vehicle body behind, the controller can correspondingly calculate the delay time according to the determined vehicle length and speed, and delay to send the required tilt angle to the tilt executing mechanism of each vehicle body behind one by one.
And 140, determining the actuating stroke and the actuating speed of the tilting actuating mechanism by the actuating controller according to the tilting angle required by the vehicle body, and generating a tilting action control instruction to control the tilting actuator of the tilting actuating mechanism to control the active tilting of the vehicle body according to the actuating stroke and the actuating speed.
Specifically, the operating stroke of the tilt actuator can be calculated by the formula N ═ L/2/I ═ β/(360/R); wherein L is the center distance between the actuators at two sides; i is the length of the torsion arm; r is the reduction ratio of a speed reducer in the tilting actuating mechanism;
furthermore, for the tilting control of the vehicle body, the maximum stroke of the tilting actuator exists, and if the required tilting angle beta of the vehicle body is too large and exceeds the maximum tilting angle beta corresponding to the maximum strokemaxAt this time, the formula N ═ L/2/I ═ betamax/(360/R) calculate the actuation stroke.
After the actuating stroke is determined, calculating the actuating speed according to the formula r which is N/t; and t is the preset time required for finishing the tilting action under all working conditions. For example, if the tilting motion needs to be completed within 2 seconds, r is N/2. The time required to complete the tilting action can be set to be different corresponding to different working conditions.
In a preferred embodiment, the control system can also detect the height variation of the tilting actuator and/or the inclination angle variation of the vehicle body through a monitoring feedback device arranged on the vehicle body to generate a tilting angle feedback signal.
Specifically, the height difference of two sides of the vehicle body is measured through a displacement sensor/an angular displacement sensor arranged on the vehicle body, the angle of the vehicle body is calculated, or the inclination angle of the vehicle body is measured through the angular displacement sensor arranged on the vehicle body, and a tilting angle feedback signal is generated and fed back to an actuator controller. And then the action controller determines the action stroke and the action speed of the tilting actuating mechanism according to the tilting angle required by the vehicle body and the tilting angle feedback signal, and generates a tilting action control command, thereby forming closed-loop feedback control.
FIG. 4 is a process diagram of a specific control algorithm of the control method executed by the control system according to the embodiment of the present invention; according to the process schematic diagram, a complete control process of the vehicle body tilting motion can be seen.
As shown in fig. 4, the acceleration sensor measures the unbalanced centrifugal acceleration of the vehicle, and the unbalanced centrifugal acceleration is filtered to obtain a filtered unbalanced centrifugal acceleration a; and (4) measuring the ultrahigh time-varying rate of the track by the gyroscope, and compensating the unbalanced centrifugal acceleration a according to the corresponding logic state duration. In a particular example, the compensation is implemented in the form of adding a fixed increment to compensate for the angle of rotation of the actuator. The speed sensor measures the running speed of the vehicle, and delays and transmits a signal of the tilting angle to the action controller of each rear vehicle body according to the running speed;
the actuator controller converts the tilting angle required by the vehicle body sent by the tilting controller into the actuating stroke and the actuating speed of the tilting actuator, controls the tilting actuator to act to tilt the vehicle body, and further adjusts and corrects the control of the actuating stroke according to the feedback of the actual tilting angle of the vehicle body monitored by the displacement sensor/angular displacement sensor on the vehicle body to form closed-loop feedback control.
The control method and the control system provided by the embodiment of the invention can be practically applied to control the active tilting device shown in fig. 5 and 6. The active tilting apparatus is only an example, and the specific implementation form of the active tilting apparatus that the controllable method of the present invention can be implemented is not limited thereto.
Fig. 5 is a schematic structural diagram of an active tilting device according to an embodiment of the present invention, and fig. 6 is a perspective view of the active tilting device; as shown in fig. 5 and fig. 6, the active tilt apparatus provided in this embodiment includes: the device comprises a first adjustable connecting rod 11, a second adjustable connecting rod 12, a first torsion arm 21, a second torsion arm 22, a first torsion rod 31, a second torsion rod 32, a first flange 41, a second flange 42, a third flange 43, a speed reducer 5, a motor 6 and a jacket support 7;
the input end of the speed reducer 5 is connected with the motor 6 through a third flange 43, the outer sleeve support 7 is connected to the shell of the speed reducer 5, and the motor 6 is arranged in the outer sleeve support 7;
the first flange 41 is connected to the output end of the speed reducer 5 through a screw, one end of the first torsion bar 31 is in interference fit with the first flange 41, and the other end of the first torsion bar 31 is in interference fit with the first torsion arm 21; the first adjustable connecting rod 11 is connected with the first torsion arm 21 in a spherical hinge mode, so that the first adjustable connecting rod 11 and the first torsion arm 21 can rotate mutually conveniently;
the second flange 42 is fixedly connected with the outer sleeve support 7, one end of the second torsion bar 32 is in interference fit with the second flange 42, and the other end is in interference fit with the second torsion arm 22; the second adjustable connecting rod 12 is connected with the second torsion arm 22 through a spherical hinge, so that the adjustable second adjustable connecting rod 12 and the second torsion arm 22 can rotate mutually.
In order to ensure the strength of the components, the first torque arm 21, the second torque arm 22, the first torsion bar 31, the second torsion bar 32, the first flange 41 and the second flange 42 are forged selectively, and heat treatment is performed to improve the strength.
The speed reducer 5 of the present invention may be an appropriate speed reducer, specifically, an RV speed reducer, a harmonic speed reducer, or the like, which is selected according to factors such as a rated torque, a reduction ratio, a bearing impact, and a weight.
The outer sleeve support 7 is made of metal materials, proper materials can be selected according to required size, strength and weight, the outer sleeve support 7 is connected to the shell of the speed reducer 5 through screws, the input end of the speed reducer 5 and the motor 6 are protected, and the torsion bar 2 is indirectly connected with the shell of the speed reducer 5.
The active tilt apparatus of the present embodiment is installed between the bolster 100 and the bogie frame 200 on the lower side of the vehicle body; ends of first torsion bar 31 and second torsion bar 32 are connected to bolster 100 through brackets 101, respectively; the inside of the support 101 is provided with a bearing for the first torsion bar 31 and the second torsion bar 32 to rotate around the axial direction of the bearing respectively; the ends of the first adjustable connecting rod 11 and the second adjustable connecting rod 12 are respectively provided with a rubber ball joint or a ball joint bearing, and the first adjustable connecting rod 11 and the second adjustable connecting rod 12 are connected with the support 201 of the bogie frame 200 through the rubber ball joint or the ball joint bearing for the first adjustable connecting rod 11 and the second adjustable connecting rod 12 to respectively rotate relative to the support 201. Two air springs 300 are respectively disposed inside the first and second adjustable links 11 and 12 on both sides.
The active tilting device is controlled by the control system of the train, and various driving state parameters of the train can be detected in real time through the detection device in the driving process of the train and are sent to the tilting controller to judge the driving state.
When the vehicle is judged to be in straight line running, the action controller controls the motor 6 to reversely torque to lock the input shaft of the speed reducer 5, and at the moment, the motor 6 and the speed reducer 5 do not rotate.
When the vehicle body is judged to enter the relaxation curve, the action controller generates a control signal according to the tilt angle calculated by the tilt controller, controls the motor 6 to rotate, drives the output end of the speed reducer 5 and the shell to rotate in opposite directions, respectively drives the first torsion bar 31 and the second torsion bar 32 to rotate in opposite directions, and further drives the first torsion arm 21 and the second torsion arm 22 to rotate one on the other, so as to realize the tilt of the vehicle.
In the process of vehicle body tilting, the air springs 300 on both sides rise and fall along with the height of the vehicle body, and the height valve of the air spring is arranged in the middle position due to two-point support, so that air charging and discharging basically cannot occur. The two air spring additional air chambers are communicated at the inner side of the sleeper beam, and air in the air spring with the reduced height can flow into the air spring with the increased height, so that the two air springs have small resistance to the tilting of the vehicle body.
In addition, when the motor loses power, the speed reducer can be locked by the motor with a brake device, so that the anti-side-rolling function of the device can be kept, and the failure of the anti-side-rolling function caused by motor faults is avoided. That is, even if the motor loses power and fails, the tilting function is only lost, the torsion bar and the adjustable connecting rod still play the normal connecting function, and the vehicle can still safely and normally run in a straight line and at a higher speed curve.
According to the train active tilting control method provided by the embodiment of the invention, a line curve and a vehicle running condition are obtained through the detection device, the tilting angle beta of the train body is calculated through the tilting controller, an instruction is issued to the tilting execution mechanism, the tilting angle beta of the train body is converted into the actuating stroke and the actuating speed of the tilting actuator through the control of the actuating controller, and finally the set stroke is reached, so that the tilting of the train body is realized.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, in a software module executed by a roll controller, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for controlling active tilting of a train, the method comprising:
the detection device collects the unbalanced centrifugal acceleration and the ultrahigh time-varying rate of the vehicle, and the tilting controller determines whether active tilting control and tilting direction are needed according to the processed unbalanced centrifugal acceleration and the ultrahigh time-varying rate;
when active tilting control is determined to be needed, the tilting controller calculates a required tilting angle of a train body according to the processed unbalanced centrifugal acceleration, and calculates data sending delay according to the train length of the train and the running speed of the train;
the tilting controller sends the tilting angle required by the vehicle body to the action controller of the corresponding tilting actuating mechanism according to the data sending delay;
and the action controller determines the action stroke and the action speed of the tilting actuating mechanism according to the tilting angle required by the vehicle body, and generates a tilting action control command to control the tilting actuator of the tilting actuating mechanism to control the active tilting of the vehicle body according to the action stroke and the action speed.
2. The control method according to claim 1, wherein the detecting device collects unbalanced centrifugal acceleration and ultrahigh time-rate of the vehicle, and the determining, by the roll controller, whether active roll control is required and the roll direction according to the processed unbalanced centrifugal acceleration and ultrahigh time-rate of the vehicle specifically comprises:
the detection device detects the unbalanced centrifugal acceleration of the vehicle in real time, and after first filtering processing is carried out on the unbalanced centrifugal acceleration, the processed unbalanced centrifugal acceleration is obtained;
determining whether the processed unbalanced centrifugal acceleration reaches a first set threshold;
when the ultrahigh time-rate reaches a first set threshold value, the detection device acquires the ultrahigh time-rate, and after second filtering processing, the processed ultrahigh time-rate is obtained;
and determining a logic state parameter corresponding to the running of the train according to the processed ultrahigh time-varying rate, and determining whether active tilting control and tilting direction are required.
3. The control method according to claim 2, wherein the determining logic state parameters corresponding to train running according to the processed ultra-high time-varying rate and determining whether active tilting control is required and the tilting direction specifically include:
determining the state parameters of the logic state corresponding to the train running according to the processed ultrahigh time-varying rate; the state parameters of the logic states include: the first state parameter is used for representing that the train does not run on the moderate curve, the second state parameter is used for representing the ultrahigh increasing state on the moderate curve, and the third state parameter is used for representing the ultrahigh decreasing state on the moderate curve;
when the state parameter of the logic state is a first state parameter, active tilt control is not required;
when the state parameter of the logic state is a second state parameter, active tilt control is required, and the tilt direction is towards the inner rail direction;
and when the state parameter of the logic state is a third state parameter, active tilt control is required, and the tilt direction faces to the outer rail direction.
4. The control method according to claim 2, characterized in that the method further comprises: and determining the processed signal delay compensation time of the unbalanced centrifugal acceleration according to the duration of the logic state corresponding to the running of the train.
5. The control method according to claim 1, wherein the calculating, by the roll controller, the required roll angle of the vehicle body from the processed unbalanced centrifugal acceleration specifically comprises:
calculating a required tilting angle of the vehicle body through a formula beta ═ arcsin ((a' -a)/g);
wherein a is the unbalanced centrifugal acceleration; a' is a desired acceleration value; g is the acceleration of gravity; beta is the required tilting angle of the vehicle body.
6. The control method according to claim 5, wherein the determining of the actuation stroke of the tilt actuator by the actuation controller according to the desired tilt angle of the vehicle body is specifically as follows:
calculating the actuating stroke by the formula N ═ L/2/I ═ β/(360 ×) R;
wherein L is the center distance between the actuators at two sides; i is the length of the torsion arm; r is the reduction ratio of a speed reducer in the tilting actuating mechanism;
the action controller determines the action speed of the tilting actuating mechanism according to the tilting angle required by the vehicle body, and specifically comprises the following steps:
calculating the actuating speed according to a formula r-N/t;
and t is the preset time required for finishing the tilting action under all working conditions.
7. The control method according to claim 6, characterized in that the method further comprises:
presetting a maximum tilt angle betamax；
When beta is greater than betamaxThen, the formula is represented by N ═ L/2/I ═ betamax/(360/R) the actuation stroke is calculated.
8. The control method according to claim 1, wherein the action controller determines an action stroke and an action speed of a tilting actuator according to the required tilting angle of the vehicle body, and generates a tilting action control command to control the tilting actuator of the tilting actuator to control the active tilting of the vehicle body according to the action stroke and the action speed specifically comprises:
the monitoring feedback device detects the height variation of the tilting actuator and/or the inclination variation of the vehicle body to generate a tilting angle feedback signal;
and the action controller determines the action stroke and the action speed of the tilting actuating mechanism according to the tilting angle required by the vehicle body and the tilting angle feedback signal and generates a tilting action control command.
9. A control system for performing the active train tilting control method according to any one of claims 1 to 8, wherein the control system comprises the detecting device according to any one of claims 1 to 8, a tilting controller and at least one tilting actuator;
the detection device includes: acceleration sensors, velocity sensors and gyroscopes;
the tilt executing mechanism comprises an action controller and a tilt actuator.
10. The control system of claim 9, further comprising a monitoring feedback device;
the monitoring feedback device comprises a displacement sensor and/or an angular displacement sensor.
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| CN112896216B (en) | 2022-09-06 |
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