CN205553955U - Snakelike unstability restraint system of rail vehicle - Google Patents
Snakelike unstability restraint system of rail vehicle Download PDFInfo
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- CN205553955U CN205553955U CN201620257124.2U CN201620257124U CN205553955U CN 205553955 U CN205553955 U CN 205553955U CN 201620257124 U CN201620257124 U CN 201620257124U CN 205553955 U CN205553955 U CN 205553955U
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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
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The utility model provides a snakelike unstability restraint system of rail vehicle, includes snakelike early warning and control module for judge whether the bogie is in snakelike unstability state, traction motor speed control system is used for the basis snakelike early warning and control module's judgment control traction motor's rotational speed, snakelike early warning and control module's signal output part is connected traction motor speed control system. The utility model discloses draw serpentine locomotion characteristic ripples according to bogie side acceleration to calculating the non -linear index of vibration according to the snakelike non -linear characteristic drawed and judging whether the bogie is in snakelike unstability state, and control traction system's direct torque through DTC control module, current train lateral control only can reduce the transverse vibration of train, can not eliminate snakelike unstability, and the utility model discloses can control traction motor to reduce speed eliminates snakelike unstability.
Description
Technical field
The utility model relates to a kind of suppression system and method, particularly to a kind of rail vehicle snakelike unsteady repression system
System.
Background technology
Train safe is the factor of train operation overriding concern, and therefore manufacturer devises different monitoring systems both at home and abroad
With equipment, train operation state is monitored.These detecting systems and the widely used accelerometer of equipment and deformeter are to key
Position is monitored, including the monitoring to train safe index and stability index.But, the most domestic the most do not judge train snake
The national standard of shape unstability, generally uses such processing method: train bogie lateral vibration acceleration is carried out 0.5-
10Hz bandpass filtering, if continuous 6 crest values of filtered signal are more than 8-10m/s^2, then it is assumed that train laterally unstable (snake
Shape unstability).But the method filter range is relatively big, filtered signal there may be the signal outside snakelike ripple, six continuous waves
Peak value definition gear shaper without theoretical foundation, snakelike unstability be there may be erroneous judgement.
Along with the raising of train running speed, requiring more and more higher to transportation safety, unstability snakelike to train carries out early warning
Particularly important with control.Therefore, use detection technique that EMUs running status is monitored in real time, propose new method to possible
The snakelike unstability occurred carries out accurate early warning, significant.
Utility model content
The utility model main purpose is the technical problem solving how to eliminate snakelike unstability after snakelike unstability, it is provided that
A kind of system realizing suppressing snakelike unstability by controlling trailer system moment of torsion.
For achieving the above object, the technical solution of the utility model is:
A kind of rail vehicle snakelike unsteady repression system, including snakelike early warning and control module, is used for judging that bogie is
No it is in snakelike instability status；
Traction electric machine speed control system, for controlling traction electric machine according to the judgement of described snakelike early warning with control module
Rotating speed；
Described snakelike early warning is connected described traction electric machine speed control system with the signal output part of control module.
Further, also include measured lateral acceleration module, for measuring the lateral vibration acceleration of bogie；
The signal output part of described measured lateral acceleration module connects with the signal input part of snakelike early warning with control module
Connect；
Whether described snakelike early warning and control module judge bogie according to the data of measured lateral acceleration module transfer
It is in snakelike instability status.
Further, described traction electric machine speed control system includes given speed control module, for according to described snakelike
Control signal k of early warning and control module transmission and the given rotating speed sp2 after adjusting, select the former given rotating speed sp1 of employing or tune
Given rotating speed sp2 after whole transmits to speed controller module；
Speed controller module, is used for receiving given rotating speed and actual speed, to the given magnetic linkage of DTC control module transmission
Flux*With given torque Torque*；
DTC control module, for receiving electric current I_ab and voltage V_abc, the speed control of the transmission of traction electric machine measurement module
The given magnetic linkage Flux of device module transfer processed*With given torque Torque*, send to the switching device of traction motor inverter and drive
Dynamic signal g；
Described snakelike early warning and the control signal output of control module, given rotating speed output respectively with given speed control
The control signal input of molding block, given rotating speed input connect, the given rotating speed output of described given speed control module
End be connected with the given rotating speed input of speed controller module, the actual speed input of described speed controller module with lead
Draw motor speed output to connect, the given magnetic linkage output of described speed controller module, given torque output respectively with
The given magnetic linkage input of DTC control module, given torque input connect, and the voltage of described DTC control module, electric current input
End is connected with voltage, the current output terminal of traction electric machine measurement module respectively, the driving signal output part of described DTC control module
It is connected with traction motor inverter.
Further, also include display module, for showing the Parameters variation of rail vehicle snakelike unsteady repression system；
Described display module signal input part respectively with speed controller module, traction electric machine rotating speed output, snakelike pre-
Police is connected with control module.
Further, described measured lateral acceleration module includes sensor assembly, GPS module, data acquisition module, master control
Unit MCU module, data process&analysis module；
Described data acquisition module is connected with sensor assembly and GPS module respectively, and described main control unit MCU module is respectively
It is connected with described data acquisition module, data process&analysis module.
To sum up content, a kind of rail vehicle snakelike unsteady repression system described in the utility model, have the advantage that
1, the utility model extracts serpentine locomotion characteristic wave according to bogie transverse acceleration, and snakelike non-according to extract
Linear character calculates vibration nonlinearity index and judges whether bogie is in snakelike instability status, and by DTC control module pair
The Direct Torque of trailer system is controlled, and existing train crosswise joint is only capable of reducing the oscillation crosswise of train, it is impossible to eliminate
Snakelike unstability, and traction electric machine can be controlled by the utility model, thus reduce speed and eliminate snakelike unstability.
2, the utility model additionally provides a kind of new snakelike unstability decision method, calculate instantaneous frequency, instantaneous amplitude and
Nonlinear indicator, and whether judge snakelike unstability according to nonlinear indicator, solve prior art decision method insecure scarce
Point.
Accompanying drawing explanation
Fig. 1 is the drawing of the utility model snakelike unstability Direct torque；
Fig. 2 is the utility model measured lateral acceleration module results schematic diagram.
Detailed description of the invention
With detailed description of the invention, the utility model is described in further detail below in conjunction with the accompanying drawings:
A kind of rail vehicle snakelike unsteady repression system described in the utility model, is devoted to eliminate the snakelike of rail vehicle
Unstability.
A kind of rail vehicle snakelike unsteady repression system, including snakelike early warning and control module, traction electric machine speeds control
System, snakelike early warning is connected described traction electric machine speed control system with the signal output part of control module.Snakelike early warning and control
Molding block is used for judging whether bogie is in snakelike instability status, and traction electric machine speed control system is for according to described snakelike
Early warning judges to control the rotating speed of traction electric machine with control module.Judge whether bogie is located by snakelike early warning and control module
In snakelike instability status, if being in snakelike instability status, then control traction electric machine rotating speed and reduce, can effectively eliminate rail vehicle
Snakelike unstability.
In the present embodiment, snakelike early warning and control module use calculating vibration nonlinearity index method to judge bogie
Whether it is in snakelike unstability；The direct control to traction electric machine rotating speed is realized by Direct Torque Control (DTC) theory.
Concrete, as it is shown in figure 1, rail vehicle snakelike unsteady repression system, including snakelike early warning and control module, laterally
Acceleration analysis module, given speed control module, speed controller module, DTC control module.Snakelike early warning and control module
Control signal output, given rotating speed output respectively with the control signal input of given speed control module, given turn
Speed input connects, the given rotating speed output of given speed control module and the given rotating speed input of speed controller module
Connecting, the actual speed input of speed controller module is connected with traction electric machine rotating speed output, speed controller module
Given magnetic linkage output, given torque output respectively with the given magnetic linkage input of DTC control module, given torque input
Connecting, the voltage of DTC control module, current input terminal are connected with voltage, the current output terminal of traction electric machine measurement module respectively,
The driving signal output part of DTC control module is connected with traction motor inverter.
As in figure 2 it is shown, measured lateral acceleration module is for measuring the lateral vibration acceleration of bogie, transverse acceleration
The signal output part of measurement module is connected with the signal input part of control module with snakelike early warning.Measured lateral acceleration module bag
Include sensor assembly, GPS module, data acquisition module, main control unit MCU module, data process&analysis module, data storage
Unit, data acquisition module is connected with sensor assembly and GPS module respectively, main control unit MCU module respectively with described data
Acquisition module, data process&analysis module, data storage cell connect.
Above the spring strut of bogie frame, two acceleration transducers are installed at diagonal angle, for measuring the horizontal of bogie
Acceleration.Data communication is carried out by RS-232 serial ports between GPS module and main control unit MCU module, can be true by GPS module
Determine where train nonlinear indicator obtains under what speed, the operating mode such as.Data acquisition module utilizes A/D to change core
Sheet realizes the collection of bogie acceleration analog signal.Data process&analysis module is for snakelike unstability signature analysis and place
Reason.
Data acquisition module and GPS module are encapsulated in a can, are fixed under EMUs car in equipment compartment.Accelerate
Degree sensor uses strain acceleration transducer, and it is the speed of train that its sample frequency acquiescence is set to 1000Hz, GPS test parameter
With position, its sample frequency acquiescence is scheduled on 10Hz.
Two measuring point output (ydd1, ydd2) outputs of measured lateral acceleration module respectively with snakelike early warning and control
Two inputs of molding block connect, and lateral vibration acceleration ydd1, ydd2 transmission of two measuring points is to snakelike early warning and control
Module carries out next step and calculates.
It is snakelike that snakelike early warning and control module use calculating vibration nonlinearity index method to judge whether bogie is in
Unstability, the calculating that vibration nonlinearity refers to comprises the steps:
(1) bogie one end transducer transversely acceleration signal is carried out noise auxiliary EEMD empirical mode decomposition, obtains
Multiple modal components ci；
(2) each IMF is calculated average frequencyAnd frequency f snakelike with theory one by oneciCompare, calculate
ε is error allowance；
If Δ fci＞ ε, it is believed that do not have snakelike frequency content, EMUs do not have snakelike unstability；
Otherwise, select Δ fciMinimum modal components cjAs snakelike characteristic wave；
(3) to snakelike characteristic wave cjCalculate instantaneous frequency IF (t), broad sense zero crossing frequency Zero-crossing (GZC) frequently
Rate IFzc(t) and amplitude Azc(t)；
(4) snakelike characteristic wave c is calculatedjNonlinear indicator INL:
(5) (4) are arrived in the lateral vibration acceleration repetition (1st) to another sensor of one end, bogie diagonal angle；
(6) if end transverse acceleration snakelike characteristic wave frequency in bogie two diagonal angle is consistent and both nonlinear indicators are the biggest
In threshold value, then it is assumed that EMUs occur snakelike unstability.
Above-mentioned new snakelike unstability decision method, calculates instantaneous frequency, instantaneous amplitude and nonlinear indicator, and according to non-thread
Whether property index judges snakelike unstability, solves the insecure shortcoming of prior art decision method.
Snakelike early warning and the control signal output of control module, given rotating speed output control mould with given speed respectively
The control signal input of block, given rotating speed input connect.Snakelike early warning is being sentenced by above-mentioned steps calculating with control module
Having no progeny, if bogie is in snakelike instability status, the given rotating speed sp2 after sending control signal k and adjusting is to given speed control
Molding block.
Switching between given speed control module given rotating speed sp2 after former given rotating speed sp1 and adjustment selects.
If train is in stable operation, then original given rotating speed sp1 is transmitted to speed controller module；If train is in snakelike unstability
State, after receiving control signal k, the given rotating speed sp2 after given speed control module will adjust transmits to speeds control
Device module, as given rotating speed N*。
Speed controller module is used for receiving given rotating speed and actual speed, to the given magnetic linkage of DTC control module transmission
Flux*With given torque Torque*.Speed controller module is according to given rotating speed sp2 (the given rotating speed N after adjusting*), pass through
Magnetic linkage is tabled look-up and is exported given magnetic linkage Flux*To DTC control module, speed controller module is by given rotating speed sp2 and traction electric machine
Actual speed (N) compare after (N*-N) through the given torque Torque of pi regulator output*To DTC control module.
DTC control module is for receiving electric current I_ab and voltage V_abc, the speeds control of the transmission of traction electric machine measurement module
The given magnetic linkage Flux of device module transfer*With given torque Torque*, send to the switching device of traction motor inverter and drive
Signal g.
DTC control module calculates real according to the electric current I_ab and voltage V_abc of the traction electric machine measurement module transmission received
Border magnetic linkage and actual torque, by given magnetic linkage Flux*With given torque Torque*Difference is taken with actual magnetic linkage and actual torque, point
Not through over torque and flux linkage hysteresis comparator device, it is input to together with Stator flux linkage sectors in voltage switch vector table, selects suitably electricity
Pressure vector, by sending the switching device driving signal g to control traction motor inverter.
The utility model realizes the direct control to traction electric machine rotating speed by Direct Torque Control (DTC) theory, with
Prior art is only capable of reducing the oscillation crosswise of train and compares, and the utility model reduces train running speed, it is possible to eliminate snakelike
Unstability.
This rail vehicle snakelike unsteady repression system also includes display module, and display system is used for showing that rail vehicle is snakelike
The Parameters variation of unsteady repression system, including electric current, rotating speed, magnetic linkage, electromagnetic torque, torque reference, measurement acceleration, non-linear
Index etc..Display module signal input part respectively with speed controller module, traction electric machine rotating speed output, snakelike early warning and control
Molding block connects.
The utility model also provides for a kind of rail vehicle snakelike unsteady repression method utilizing said apparatus, including walking as follows
Rapid:
Step 1, snakelike early warning according to the lateral vibration acceleration of surveyed bogie, calculate vibration nonlinearity with control module
Index judges whether bogie is in snakelike instability status.
If step 2 bogie is in snakelike instability status, then provides the reference lower than current traction electric machine rotating speed and turn
Speed, controls traction electric machine and reduces rotating speed, reduce the rail vehicle speed of service.
Concrete, if bogie is in snakelike instability status, snakelike early warning and control module are by after control signal k and adjustment
Given rotating speed sp2 be transferred to given speed control module, given speed control module will adjust after given rotating speed sp2 transmission
To speed controller module.
Speed controller module, according to given rotating speed sp2, is tabled look-up through magnetic linkage and is exported given magnetic linkage Flux*To DTC control
Module, given rotating speed sp2 is compared given through pi regulator output afterwards by speed controller module with traction electric machine actual speed
Torque Torque*To DTC control module.
DTC control module calculates real according to the electric current I_ab and voltage V_abc of the traction electric machine measurement module transmission received
Border magnetic linkage and actual torque, by given magnetic linkage Flux*With given torque Torque*Difference is taken with actual magnetic linkage and actual torque, point
Not through over torque and flux linkage hysteresis comparator device, it is input to together with Stator flux linkage sectors in voltage switch vector table, selects suitably electricity
Pressure vector, by sending the switching device driving signal g to control traction motor inverter.
As it has been described above, combine the plan content given by accompanying drawing, similar technical scheme can be derived.In every case it is not take off
From the content of technical solutions of the utility model, according to technical spirit of the present utility model above example is made any simply
Amendment, equivalent variations and modification, all still fall within the range of technical solutions of the utility model.
Claims (5)
1. a rail vehicle snakelike unsteady repression system, it is characterised in that: include snakelike early warning and control module, be used for judging
Whether bogie is in snakelike instability status；
Traction electric machine speed control system, for controlling turning of traction electric machine according to the judgement of described snakelike early warning with control module
Speed；
Described snakelike early warning is connected described traction electric machine speed control system with the signal output part of control module.
A kind of rail vehicle snakelike unsteady repression system the most according to claim 1, it is characterised in that: also include laterally adding
Speed measurement module, for measuring the lateral vibration acceleration of bogie；
The signal output part of described measured lateral acceleration module is connected with the signal input part of control module with snakelike early warning；
According to the data of measured lateral acceleration module transfer, described snakelike early warning judges whether bogie is in control module
Snakelike instability status.
A kind of rail vehicle snakelike unsteady repression system the most according to claim 1, it is characterised in that: described traction electric machine
Speed control system includes given speed control module, for the control signal according to described snakelike early warning with control module transmission
Given rotating speed sp2 after k and adjustment, selects the given rotating speed sp2 after using former given rotating speed sp1 or adjusting to transmit to speed control
Device module processed；
Speed controller module, is used for receiving given rotating speed and actual speed, to the given magnetic linkage Flux of DTC control module transmission*With
Given torque Torque*；
DTC control module, for receiving electric current I_ab and voltage V_abc, the speed control of the transmission of traction electric machine measurement module
The given magnetic linkage Flux of module transfer*With given torque Torque*, send to the switching device of traction motor inverter and drive letter
Number g；
Described snakelike early warning and the control signal output of control module, given rotating speed output control mould with given speed respectively
The control signal input of block, given rotating speed input connect, the given rotating speed output of described given speed control module with
The given rotating speed input of speed controller module connects, the actual speed input of described speed controller module and traction electricity
Machine rotating speed output connects, and the given magnetic linkage output of described speed controller module, given torque output are controlled with DTC respectively
The given magnetic linkage input of molding block, given torque input connect, and the voltage of described DTC control module, current input terminal divide
Be not connected with voltage, the current output terminal of traction electric machine measurement module, the driving signal output part of described DTC control module with lead
Draw motor inverter to connect.
A kind of rail vehicle snakelike unsteady repression system the most according to claim 1, it is characterised in that: also include showing mould
Block, for showing the Parameters variation of rail vehicle snakelike unsteady repression system；
Described display module signal input part respectively with speed controller module, traction electric machine rotating speed output, snakelike early warning with
Control module connects.
A kind of rail vehicle snakelike unsteady repression system the most according to claim 2, it is characterised in that laterally accelerate described in:
Degree measurement module includes sensor assembly, GPS module, data acquisition module, main control unit MCU module, data process&analysis
Module；
Described data acquisition module is connected with sensor assembly and GPS module respectively, described main control unit MCU module respectively with institute
State data acquisition module, data process&analysis module connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620257124.2U CN205553955U (en) | 2016-03-30 | 2016-03-30 | Snakelike unstability restraint system of rail vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620257124.2U CN205553955U (en) | 2016-03-30 | 2016-03-30 | Snakelike unstability restraint system of rail vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205553955U true CN205553955U (en) | 2016-09-07 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620257124.2U Withdrawn - After Issue CN205553955U (en) | 2016-03-30 | 2016-03-30 | Snakelike unstability restraint system of rail vehicle |
Country Status (1)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105711444A (en) * | 2016-03-30 | 2016-06-29 | 中车青岛四方机车车辆股份有限公司 | Rail vehicle snake-shaped instability inhibition system and method |
| CN106875427A (en) * | 2017-01-11 | 2017-06-20 | 西南交通大学 | A kind of locomotive hunting monitoring method |
| CN113320570A (en) * | 2021-06-01 | 2021-08-31 | 中车唐山机车车辆有限公司 | Bogie instability control method and device, train and storage medium |
-
2016
- 2016-03-30 CN CN201620257124.2U patent/CN205553955U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105711444A (en) * | 2016-03-30 | 2016-06-29 | 中车青岛四方机车车辆股份有限公司 | Rail vehicle snake-shaped instability inhibition system and method |
| WO2017167087A1 (en) * | 2016-03-30 | 2017-10-05 | 中车青岛四方机车车辆股份有限公司 | Railway vehicle snaking instability suppression system and method |
| CN105711444B (en) * | 2016-03-30 | 2018-05-11 | 中车青岛四方机车车辆股份有限公司 | A kind of snakelike unsteady repression system and method for rail vehicle |
| US10814731B2 (en) * | 2016-03-30 | 2020-10-27 | Crrc Qingdao Sifang Co., Ltd. | System and method for suppressing the serpentine instability of railway vehicle |
| CN106875427A (en) * | 2017-01-11 | 2017-06-20 | 西南交通大学 | A kind of locomotive hunting monitoring method |
| CN113320570A (en) * | 2021-06-01 | 2021-08-31 | 中车唐山机车车辆有限公司 | Bogie instability control method and device, train and storage medium |
| CN113320570B (en) * | 2021-06-01 | 2022-07-26 | 中车唐山机车车辆有限公司 | Bogie instability control method and device, train and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160907 Effective date of abandoning: 20180511 |
|
| AV01 | Patent right actively abandoned |