CN114326434A - Semi-physical maglev vehicle dynamics simulation system - Google Patents
Semi-physical maglev vehicle dynamics simulation system Download PDFInfo
- Publication number
- CN114326434A CN114326434A CN202111637528.6A CN202111637528A CN114326434A CN 114326434 A CN114326434 A CN 114326434A CN 202111637528 A CN202111637528 A CN 202111637528A CN 114326434 A CN114326434 A CN 114326434A
- Authority
- CN
- China
- Prior art keywords
- dynamics
- module
- track
- vehicle dynamics
- vehicle
- 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.)
- Pending
Links
Images
Landscapes
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
Abstract
The invention relates to a semi-physical magnetic levitation vehicle dynamics simulation system, which takes a control part and an electromagnetic part which are difficult to accurately simulate numerical values as a physical part; the method comprises the steps of taking a vehicle mechanical part and a track part which can be accurately simulated as virtual parts, revealing coupling rules among a control physical module, an electromagnetic physical module, a vehicle dynamics virtual model and a track beam dynamics virtual model and application boundaries of main parameters, reproducing magnetic levitation vehicle coupling dynamics response under various working conditions indoors, and performing vehicle dynamics performance analysis, control system performance analysis and track beam dynamics performance analysis, thereby providing theoretical basis and application reference for accurate design of a magnetic levitation traffic system.
Description
Technical Field
The invention relates to the field of simulation control, in particular to a dynamic simulation system of a magnetic levitation vehicle.
Background
With the rapid development of magnetic levitation technology, magnetic levitation trains and operation systems capable of realizing high-speed operation are available. However, before the maglev train is put into operation formally, the train and the operation system need to be debugged initially to ensure the normal performance of each key device and avoid major safety accidents.
Taking a maglev vehicle dynamics system as an example, the maglev train can cause improper coupling of subsystems such as suspension, guidance, eddy current braking and the like and models such as vehicle dynamics, track beam dynamics, lines and the like due to various interference influences in the running process. Therefore, in order to ensure the safe and stable operation of the train, the coupling simulation of the dynamic system of the magnetic levitation vehicle is required to be carried out before the magnetic levitation train is put into operation formally so as to carry out preliminary debugging and simulation verification. Therefore, how to provide a magnetic suspension vehicle dynamics simulation system with simple model and strong authenticity is an important technical problem to be solved urgently in the magnetic suspension control system simulation.
Disclosure of Invention
In view of the above technical problems, the present invention provides a semi-physical magnetic levitation vehicle dynamics simulation system, which comprises: the system comprises a control module, an electromagnetic module, a vehicle dynamics module and a track beam dynamics module, so as to realize magnetic levitation control, electromagnetism and real-time coupling simulation of a vehicle and a track beam;
the control module and the electromagnetic module adopt a real object for simulation;
and the vehicle dynamics module and the track beam dynamics module respectively adopt a vehicle dynamics virtual model and a track beam dynamics virtual model for simulation.
Further, a vehicle dynamics virtual model and a track beam dynamics virtual model are established by adopting multi-body dynamics software SIMPACK.
Further, the track beam dynamics virtual model adopts a SIMBEAM module of multi-body dynamics software SIMPACK to establish a flexible track beam model.
Furthermore, the real-time coupling simulation of magnetic levitation control, electromagnetism, vehicles and track beams is realized by adopting a Realtime module of the multi-body dynamics software SIMPACK.
Further, the virtual vehicle dynamics model takes the electromagnetic force of the electromagnetic module as input and takes speed, acceleration and clearance as output signals.
Further, the track beam dynamic virtual model takes the amplitude, the frequency and the track beam span as configurable parameters, and takes the track deformation quantity transformed along with time and position as an output signal.
Further, the track beam dynamic virtual model further comprises a track irregularity model; the track irregularity model takes a running speed, a train position and an irregularity command as input signals, takes track irregularity waveforms as output signals and takes spatial frequency as a configurable parameter.
The semi-physical magnetic suspension vehicle dynamics simulation system takes a control part and an electromagnetic part which are difficult to accurately simulate numerical values as a physical part; the method comprises the steps of taking a vehicle mechanical part and a track part which can be accurately simulated as virtual parts, revealing coupling rules among a control physical module, an electromagnetic physical module, a vehicle dynamics virtual model and a track beam dynamics virtual model and application boundaries of main parameters, reproducing magnetic levitation vehicle coupling dynamics response under various working conditions indoors, and performing vehicle dynamics performance analysis, control system performance analysis and track beam dynamics performance analysis, thereby providing theoretical basis and application reference for accurate design of a magnetic levitation traffic system.
Drawings
FIG. 1 is a schematic structural diagram of a semi-physical maglev vehicle dynamics simulation system of the present invention;
FIG. 2 is a schematic structural diagram of a magnetic levitation vehicle;
FIG. 3 is a block diagram of the dynamic simulation system of the semi-physical magnetic levitation vehicle of the present invention.
Detailed Description
As shown in fig. 1, the invention provides a semi-physical maglev vehicle dynamics simulation system, which comprises a control module, an electromagnetic module, a vehicle dynamics module and a track beam dynamics module, so as to realize real-time coupling simulation of maglev control, electromagnetism, a vehicle and a track beam. The control module and the electromagnetic module adopt a real object for simulation; the vehicle dynamics module and the track beam dynamics module respectively adopt a vehicle dynamics virtual model and a track beam dynamics virtual to simulate.
The vehicle dynamics simulation system of the invention takes a control part and an electromagnetic part which are difficult to accurately simulate numerical values as a real object part; the method comprises the steps of taking a vehicle mechanical part and a track part which can be accurately simulated as virtual parts, revealing coupling rules among a control physical module, an electromagnetic physical module, a vehicle dynamics virtual model and a track beam dynamics virtual model and application boundaries of main parameters, reproducing magnetic levitation vehicle coupling dynamics response under various working conditions indoors, and performing vehicle dynamics performance analysis, control system performance analysis and track beam dynamics performance analysis, thereby providing theoretical basis and application reference for accurate design of a magnetic levitation traffic system.
Specifically, the virtual model part can be created by, but not limited to, SIMPACK based on multi-body dynamics software. (1) Regarding the virtual model of vehicle dynamics, as shown in fig. 2, the structure of a magnetic levitation vehicle is mainly composed of a vehicle body and a levitation frame (elastic levitation frame). The upper part of the suspension frame is connected with a vehicle body bottom plate through mechanisms such as an air spring, a rocker arm, a swing rod, a traction pull rod and the like, and the suspension frame is a walking mechanism of a vehicle and is used for loading electromagnets and transmitting suspension force, guiding force, traction force and braking force to a vehicle body through a secondary suspension system. The secondary suspension system mainly comprises an air spring, a swing bolster, a swing rod, a transverse spring or rubber and the like so as to ensure the stability of the running of the vehicle. The dynamic virtual model of the magnetic suspension vehicle takes the vehicle body, the suspension frame and the suspension/guide/brake electromagnets as rigid bodies, takes the complete shaking and oscillating bar mechanisms into consideration, simplifies the connection of the secondary air springs, the electromagnets and the suspension frame into spring-dampers, and the rigid body motion freedom degrees of each part of the vehicle are shown in table 1. More specifically, the vehicle dynamics virtual model receives the electromagnetic force, the traction force and the line related information of the suspension guide braking system, and calculates the information of the train suspension gap, the guide gap, the train speed and the like. (2) Regarding the track beam dynamics virtual model, because the high-speed magnetic levitation collinear concrete beam is a track beam integrated structure, a flexible track beam model can be established by using a SIMBEAM module of SIMPACK software, and the mode can accurately simulate the elastic deformation of the simply supported concrete track beam. And finally, coupling simulation of the control system physical model and the vehicle and track virtual model is realized by using a Realtime module of SIMPACK software.
TABLE 1 degrees of freedom of motion of the components of the SIMPACK kinetic model
In this embodiment, the vehicle dynamics simulation system of the present invention utilizes mature commercial software (multi-body dynamics software SIMPACK) to establish the vehicle dynamics virtual model and the rail beam dynamics virtual model, and performs appropriate optimization on the vehicle and rail beam models to ensure high real-time performance of the system. The method has the advantages of good universality and transportability, more convenient model debugging and certain guarantee of system reliability. Therefore, under certain simulation requirements, SIMPACK software is preferentially adopted to develop the virtual part of the semi-physical simulation system.
More specifically, the semi-physical magnetic levitation vehicle dynamics simulation system of the present invention can optionally but not exclusively adopt a real-time simulation virtual model for autonomous development, and fig. 3 shows a semi-physical semi-virtual real-time simulation flowchart, including: the control module (a suspension controller, an eddy current brake controller and a guide controller) takes sensor displacement (suspension gap, guide gap and the like), sensor acceleration (vertical acceleration and transverse acceleration), bridge deflection, vehicle-mounted operation control commands and the like as input and takes coil current (control current) as output; the electromagnetic module (suspension electromagnet, eddy current brake electromagnet and guide electromagnet) takes magnet displacement, track beam deflection, track irregularity, coil current from the control module and the like as input and takes electromagnetic force (suspension force, braking force and guide force) as output; the vehicle dynamics virtual model takes the electromagnetic force from the electromagnet module and the like as input, and takes the sensor displacement, the sensor acceleration and the magnet displacement as output (see table 2); the track beam dynamic virtual model takes electromagnetic force from an electromagnet module and the like as input and takes bridge deflection at the corresponding positions of the electromagnet and the sensor as output.
(1) Specifically, the vehicle body and the suspension frame of the vehicle dynamics virtual model are basically the same as those in fig. 2, except that the swing rod is equivalent to a vertical spring-damper and a transverse spring-damper, and a Zhai method (a novel explicit integral method) is used for solving. The vehicle dynamics model can omit the degree of freedom of components which have little influence on the dynamics performance, and can more easily improve the real-time performance of the vehicle system dynamics calculation on the premise of ensuring the calculation precision, and the calculation speed can reach the ms level. The inputs, outputs, and configurable parameters of a particular vehicle dynamics model are described in table 2.
TABLE 2 model input, output, configurable parameter tables for vehicle dynamics virtual models
(2) More specifically, the track beam dynamic virtual model mainly simulates the working condition of track coupling vibration, calculates the corresponding semi-physical simulation result, and tests the effect of the suspension, guide and eddy current braking system on inhibiting the track coupling vibration. Preferably, the track and the bridge of the high-speed magnetic suspension traffic are of an integrated structure, can be regarded as a Bernoulli-Euler beam, and a track beam dynamic model is planned to be compiled by Matlab software. The Bernoulli-Euler beam model adopts a modal superposition method to solve the dynamic response, the motion differential equation is listed as the following formula, the deflection is calculated by adopting the formula, and the calculation speed can reach the ms level.
Wherein EI is the bending rigidity of the track beam, C is the damping of the track beam, m is the mass of the track beam per linear meter, y (x, t) is the deflection, phin(x) Is an nth order mode function, qnAnd (t) is the nth order vibration mode amplitude. Specifically, the input, output and configurable parameter tables of the rail beam dynamics model are shown in table 3.
TABLE 3 track Beam model input, output, configurable parameter Table
More specifically, optionally but not limited to, the track beam dynamics model is packaged into a Matlab/Simulink model, the Matlab/Simulink model is operated in a high-performance real-time simulator, and the input signal is acquired in real time through a reflective memory to meet the requirement that the operation step length is not more than 1 ms.
(3) More specifically, in order to optimize the track beam dynamics model, an optional but not limited to proposed track irregularity model is provided. More specifically, the power spectral density function is optionally used for representation, and an appropriate time-frequency conversion method is required to obtain the orbit random irregularity space sample varying with the mileage. The method is based on a frequency domain power spectrum, a frequency spectrum is obtained by adding a random phase to a frequency spectrum amplitude sampled according to bilateral power spectral density, a time domain sample with unsmooth track is obtained through inverse Fourier transform, and the time domain sample is input into a vehicle model. The design of the anti-rolling beam of the maglev train suspension frame enables the suspension modules on two sides of the suspension frame to be independent in a certain degree of freedom, so that the maglev train is not sensitive to horizontal irregularity and track gauge irregularity. Therefore, only the influence of vertical unevenness and transverse rail unevenness on the dynamics of the maglev train is considered, which is specifically as follows:
uneven height:
the direction is not smooth:
omega is the track irregularity spatial frequency; omegac、Ωr、ΩsIs the cutoff frequency; a. thev、AaIs the roughness constant; b is a constant.
And (3) a model specific calculation step:
firstly, converting a track irregularity single-side power spectrum into a double-side spectrum; the frequency spectrum module value of the time domain sequence obtained by calculation is as follows:
the above equation gives the modulus of the spectrum x (k) of the sequence x (n), and constructs the following independent phase sequence ξ n as satisfying:
ξn＝cosΦn+isinΦn＝exp(iΦn)
|ξn|＝1
wherein phi n follows the uniform distribution between 0 pi and 2 pi.
The expression of the complex sequence X (k) is given by the following formula:
finally, performing inverse Fourier transform (IFFT) on the obtained complex sequence X (k) to obtain a time domain sequence x (n), and obtaining a permanent magnet track irregularity signal in the time domain after the steps:
the input and output of the orbit irregularity model are shown in table 4:
TABLE 4 track irregularity model input, output, configurable parameter table
More specifically, the track irregularity model can be selected but not limited to be packaged into a Matlab/Simulink model, the Matlab/Simulink model is operated in a high-performance real-time simulator by adopting optimization technologies such as dimensionality reduction and simplification, and the input signal is acquired in real time through a reflective memory to meet the requirement that the operation step length is not more than 1 ms. Because the random non-smooth power spectrum of the magnetic suspension track has obvious segmentation characteristics, the related parameters of the random non-smooth power spectrum of the suspension track are reasonably set in combination with the requirement of high-speed magnetism on the track precision.
In the embodiment, the vehicle dynamics simulation system which is autonomously developed by the invention is provided, the magnetic levitation vehicle dynamics model is properly simplified, the track beam is regarded as the Euler beam model, the high real-time requirement is easily met, and the virtual model of the semi-physical simulation system which is autonomously developed by the C language is recommended to be used under the condition that the high real-time performance and the high precision cannot be met simultaneously.
More specifically, the semi-physical maglev vehicle dynamics simulation system may be optionally but not exclusively simulated according to table 5.
TABLE 5 simulation behavior List
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A semi-physical maglev vehicle dynamics simulation system, comprising: the system comprises a control module, an electromagnetic module, a vehicle dynamics module and a track beam dynamics module, so as to realize magnetic levitation control, electromagnetism and real-time coupling simulation of a vehicle and a track beam;
the control module and the electromagnetic module adopt a real object for simulation;
and the vehicle dynamics module and the track beam dynamics module respectively adopt a vehicle dynamics virtual model and a track beam dynamics virtual model for simulation.
2. The semi-physical vehicle dynamics simulation system of claim 1, wherein the virtual vehicle dynamics model and the virtual rail beam dynamics model are created using SIMPACK.
3. The semi-physical vehicle dynamics simulation system of claim 2, wherein the virtual model of rail beam dynamics is created using the SIMBEAM module of SIMPACK, multi-body dynamics software.
4. The semi-physical vehicle dynamics simulation system of claim 3, wherein magnetic levitation control, electromagnetism, real-time coupling simulation of vehicles and track beams are realized by using a real module of SIMPACK.
5. The semi-physical vehicle dynamics simulation system of claim 1, wherein the virtual vehicle dynamics model takes electromagnetic force of the electromagnetic module as input and takes speed, acceleration, and clearance as output signals.
6. The semi-physical vehicle dynamics simulation system according to any one of claims 1-5, wherein the virtual model of track beam dynamics uses amplitude, frequency, track beam span as configurable parameters, and uses the amount of track deformation as an output signal over time and position.
7. The semi-physical vehicle dynamics simulation system of claim 6, wherein the rail beam dynamics virtual model further comprises a rail irregularity model; the track irregularity model takes a running speed, a train position and an irregularity command as input signals, takes track irregularity waveforms as output signals and takes spatial frequency as a configurable parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111637528.6A CN114326434A (en) | 2021-12-29 | 2021-12-29 | Semi-physical maglev vehicle dynamics simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111637528.6A CN114326434A (en) | 2021-12-29 | 2021-12-29 | Semi-physical maglev vehicle dynamics simulation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114326434A true CN114326434A (en) | 2022-04-12 |
Family
ID=81017224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111637528.6A Pending CN114326434A (en) | 2021-12-29 | 2021-12-29 | Semi-physical maglev vehicle dynamics simulation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114326434A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024087288A1 (en) * | 2022-10-28 | 2024-05-02 | 中车长春轨道客车股份有限公司 | Simulation method for vehicle-bridge system of magnetic levitation vehicle, and related product |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170066460A1 (en) * | 2014-11-25 | 2017-03-09 | Crrc Qingdao Sifang Co., Ltd. | Simulation and experiment platform for high-speed train braking system and experiment method |
-
2021
- 2021-12-29 CN CN202111637528.6A patent/CN114326434A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170066460A1 (en) * | 2014-11-25 | 2017-03-09 | Crrc Qingdao Sifang Co., Ltd. | Simulation and experiment platform for high-speed train braking system and experiment method |
Non-Patent Citations (2)
| Title |
|---|
| 李彦兴: "高温超导磁悬浮车/桥耦合振动仿真分析" * |
| 熊志杰: "高速磁浮半实物仿真集成系统测试平台研究" * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024087288A1 (en) * | 2022-10-28 | 2024-05-02 | 中车长春轨道客车股份有限公司 | Simulation method for vehicle-bridge system of magnetic levitation vehicle, and related product |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhang et al. | Dynamic interaction analysis of the high-speed maglev vehicle/guideway system based on a field measurement and model updating method | |
| Deng et al. | Identification of dynamic vehicular axle loads: Theory and simulations | |
| Zhang et al. | Study on dynamics of coupled systems in high-speed trains | |
| Zhang et al. | A train-bridge dynamic interaction analysis method and its experimental validation | |
| CN114326434A (en) | Semi-physical maglev vehicle dynamics simulation system | |
| Ha et al. | Advanced numerical analysis for vibration characteristics and ride comfort of ultra-high-speed maglev train | |
| Yan et al. | Dynamic simulation of vibration characteristics and ride quality of superconducting EDS train considering body with flexibility | |
| US10960901B2 (en) | Electromagnetic transverse active damping system, and control method and apparatus therefor | |
| JP5188428B2 (en) | Railway vehicle behavior simulation apparatus and behavior simulation method | |
| JPH05281096A (en) | Railway rolling stock testing apparatus and method thereof | |
| Han | A study on the dynamic modeling of a magnetic levitation vehicle | |
| Guo et al. | Off-Line Hybrid Simulation Method on Train–Track–Bridge Coupling Vibration in High-Speed Railway | |
| Ha et al. | Construction of simulation framework for dynamic analysis of a superconducting magnetic levitation train with flexible car bodies | |
| JP2014173975A (en) | Motion reproduction device of train formation using model experiment device of magnetic levitation railway vehicle, and motion reproduction method for train formation | |
| CN113223365A (en) | Train driving simulation dynamic control method, system, terminal and medium | |
| Yin et al. | Experimental and numerical studies of nonstationary random vibrations for a high-pier bridge under vehicular loads | |
| Guo et al. | Coupling vibration analysis of high-speed maglev train-viaduct systems with control loop failure | |
| Gong | Structural form and dynamic characteristics of high-speed maglev separated track beam | |
| Hoshino et al. | Examination of vehicle motion characteristics of a Maglev train set using a reduced-scale model experiment apparatus | |
| Liu et al. | Analysis and Optimization of Driving Attitude and Oscillation Characteristics of Suspension‐Type Small Rail Vehicles | |
| Cheng et al. | Research on simplified calculation method of coupled vibration of vehicle-bridge system | |
| KR101221477B1 (en) | Apparatus for testing the ride comfort of the railway vehicles using the drive testing stand | |
| Hoshino et al. | Reduction of vibrations in Maglev vehicles using active primary and secondary suspension control | |
| JP5254095B2 (en) | Railway vehicle behavior simulation apparatus and behavior simulation method | |
| CN103175642B (en) | Rotating arm type axle box force measuring device and method thereof |
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 |