JP5425749B2 - Reproduction method of bogie motion using suspension interaction force in model test equipment of floating vehicle - Google Patents

Description

  The present invention relates to motion reproduction of a floating railway vehicle, and more particularly to a method of reproducing a cart motion using suspension interaction force in a model experimental apparatus for a floating vehicle.

  In research and development, such as elucidating vehicle motion characteristics and body vibration suppression techniques for magnetically levitated railways, we have focused on the current vehicle tests as the next stage of computer simulation. However, because there are various constraints in the current vehicle test, it was difficult to experiment with various parameters freely. Therefore, we have produced a vehicle model experiment device dedicated to magnetic levitation railways and verified the accuracy of computer simulations.

  Currently, there are the following methods related to motion reproduction in model experiments.

  (1) Coupling of magnetic levitation railway with a six-degree-of-freedom closed-loop mechanism based on a parallel mechanism that simulates the coupling of non-contact magnetic springs, which reproduces the movement of a cart placed between the maglev railway railways. Vehicle vibration simulator (see Patent Document 1 below).

  (2) A model test device that is a coupled system of a vehicle body and a carriage, similar to the current vehicle, and when the vibration control of the secondary suspension is controlled, the carriage receives the reaction force when the vibration amplitude of the vehicle body decreases. A basic characteristic test system for vehicle motion using a levitation vehicle model experimental device that reproduces the coupled vibration, which is the interaction between the vehicle body and the bogie that changes the vibration amplitude of the vehicle.

  FIG. 3 is a schematic diagram showing a mechanism for reproducing vibrations coupled to a vehicle body and a trolley of a conventional magnetic levitation vehicle.

  In this figure, 101 is a base, 102 is a virtual magnetic spring, 103 is a carriage (motion base), 104 is a small load cell, 105 is a secondary suspension, and 106 is a vehicle body.

  In the model experiment apparatus shown in the above (2), as shown in FIG. 3, a compact load cell 104 for both expansion and contraction is inserted between the secondary suspension 105 and the bogie (motion base) 103 so that the vehicle body 106 and the bogie 103 are connected to each other. The movement of the carriage is reproduced by measuring the applied force and feeding it back to the carriage controller. Inside the cart control device, the cart 103 is modeled with one degree of freedom in the vertical direction, and the displacement of the cart is calculated in real time by solving the equation of motion using the simulated guideway height displacement and the interaction force from the load cell as disturbance inputs. (See Non-Patent Documents 1 and 2 below).

JP 2007-256019 A

Eritsu Suzuki, Ken Watanabe, Hironori Hoshino, “Fundamental characteristics test of vehicle motion by floating vehicle model test device”, Railway Research Institute Vol. 22, no. 11, Nov. 2008, pp. 5-10 Erimitsu Suzuki et. al. , “A study of Maglev Vehicle Dynamics Using a Reduced-Scale Vehicle Model Experiment Apparatus”, Journal of Mechanical Listols system. 3, No. 1, 2010, pp. 196-205

  However, in the above-described conventional example, an analytical solution is obtained when the model experiment apparatus is restricted in movement in only one direction or when the model experiment apparatus moves in multiple directions and the movement in each direction is independent. Therefore, the amount of displacement of the carriage can be determined by the output of the load cell and the analytical solution. However, if the model test device moves in multiple directions and the movement in each direction is coupled, the displacement amount of the carriage There was a problem that could not be determined.

  In view of the above situation, the present invention can improve the reproducibility of the bogie movement by obtaining the displacement amount of the bogie even when the model experiment apparatus moves in multiple directions and the movement in each direction is coupled. An object of the present invention is to provide a method for reproducing a cart motion using a suspension interaction force in a model experimental apparatus for a floating vehicle.

In order to achieve the above object, the present invention provides
[1] In a bogie motion reproduction method using suspension interaction force in a floating vehicle model test device, the cart acts on the cart by load cells arranged in each direction of a vibration device as a cart of the floating vehicle model test device. Suspension acting force is measured, and the bogie displacement amount is obtained by a numerical solution based on the suspension acting force, the bogie displacement amount is reflected in the control amount of the bogie, and the movement direction of the model test apparatus is before and after the bogie, Left and right, up and down, roll, pitch, and yaw. These motions are coupled, and the suspension acting force is f, the spring constant is k, and the carriage displacement is x (f and x are vector quantities, k is a tensor quantity), by obtaining the inverse matrix of the spring constant k, and wherein Rukoto seek each carriage displacement amount of the six directions.

[ 2 ] In the method for reproducing bogie motion using suspension interaction force in the model experimental apparatus for a floating vehicle according to [ 1 ] above , a plurality of spring constants k corresponding to the state are prepared, and the plurality of springs are prepared. characterized in that there use to switch the constant k.

  According to the present invention, even when the floating vehicle model test apparatus moves in multiple directions and the movements in each direction are coupled, the displacement amount of the carriage can be obtained, and the motion reproducibility of the carriage and the vehicle is improved. Can be made.

It is a schematic diagram which shows the principal part of the model experiment apparatus which concerns on the bogie movement reproduction method using the suspension interaction force in the model experiment apparatus of the floating type vehicle which shows the Example of this invention. It is a flowchart of the trolley | bogie movement reproduction method using the suspension interaction force in the model experiment apparatus of the floating type vehicle which shows the Example of this invention. It is a schematic diagram which shows the structure of the vehicle body and trolley coupled vibration reproduction of the conventional magnetic levitation type vehicle.

The bogie motion reproduction method using the suspension interaction force in the floating vehicle model test apparatus of the present invention acts on the cart by load cells arranged in each direction of the vibration device as the cart of the floating vehicle model test apparatus. Suspension acting force is measured, and the bogie displacement amount is obtained by a numerical solution based on the suspension acting force, the bogie displacement amount is reflected in the control amount of the bogie, and the movement direction of the model test apparatus is before and after the bogie, Left and right, up and down, roll, pitch, and yaw. These motions are coupled, and the suspension acting force is f, the spring constant is k, and the carriage displacement is x (f and x are vector quantities, k is a tensor amount), and the cart displacement amount in each of the six directions is obtained by obtaining an inverse matrix of the spring constant k.

  Hereinafter, embodiments of the present invention will be described in detail.

  FIG. 1 is a schematic diagram showing a main part of a model experimental apparatus according to a cart motion reproduction method using a suspension interaction force in a floating vehicle model experimental apparatus showing an embodiment of the present invention, and FIG. 2 shows the suspension interaction force thereof. It is a flowchart of the cart motion reproduction method using.

  In FIG. 1, 1 is a base, 2 is a primary spring system, 3 is a carriage, 4 is a suspension acting force from the vertical direction on the carriage 3, 5 is a first load cell that receives the acting force 4 from the vertical direction, and 6 is Suspension acting force from the left and right horizontal directions on the carriage 3, 7 is a second load cell that receives the acting force 6 from the left and right horizontal directions, 8 is a suspension acting force from the front and rear horizontal directions on the carriage 3, and 9 is this It is the 3rd load cell which receives the acting force 8 from the front and back horizontal directions.

  In the present invention, the suspension acting force 4, 6, 8 is measured by the first to third load cells 5, 7, 9 on the vibration device as the carriage 3, and is reflected in the movement of the carriage 3, so that the entire vehicle is This improves the reproducibility of motion.

  In the case of a floating vehicle, the primary spring system 2 shown in FIG. 1 is characterized in that each direction (six directions of front and rear, left and right, up and down, roll, pitch, and yaw) is coupled. Therefore, in the present invention, the amount of displacement of the carriage 3 when the model experiment apparatus moves in multiple directions and the movement in each direction is coupled is obtained, and the movement of the carriage 3 is reproduced.

  If the model experiment device for a floating vehicle is restricted to movement in only one direction as in the past, or if the model experiment device moves in multiple directions and the movement in each direction is independent, 3 displacements, but if each direction (6 directions: front, back, left, right, up, down, roll, pitch, yaw) is coupled, the analytical solution cannot be obtained. Need to ask.

In the case of a levitation vehicle, the primary spring system 2 has a feature that there is almost no damping element. In this case, when the suspension acting force is f, the spring constant is k, and the displacement amount of the carriage 3 is x, f = k · x. The suspension acting force f and the displacement amount x of the carriage 3 are vector amounts, and the spring constant k is a tensor amount. In this case, x = f / k. Therefore, if the inverse matrix of the spring constant k is obtained, the displacement of the carriage 3 in each direction can be determined. Since the spring constant k changes depending on the state, a plurality of spring constants k corresponding to the state are prepared and switched for mounting.

  A cart motion reproduction method using the suspension interaction force will be described with reference to FIG.

  (1) First, the suspension acting force acting on the carriage is acquired by the load cell in each direction (step S1).

  (2) Next, a bogie displacement amount is obtained by numerical solution (step S2).

  (3) The displacement amount of the carriage is reflected in the control quantity of the carriage (step S3).

  As described above, in the present invention, the suspension acting force acting on the carriage is measured by arranging the load cell in each direction of the carriage of the floating vehicle, and the displacement amount of the carriage is obtained by the numerical solution based on the measured suspension acting force. The amount of bogie displacement is reflected in the bogie control amount.

  In addition, this invention is not limited to the said Example, Based on the meaning of this invention, a various deformation | transformation is possible and these are not excluded from the scope of the present invention.

The method of reproducing the bogie motion using the suspension interaction force in the model experimental apparatus for a floating vehicle according to the present invention obtains the displacement amount of the bogie even when the model experimental apparatus moves in multiple directions and the movement in each direction is coupled. Thus, it can be used as a model experiment method for a floating vehicle that can improve the motion reproducibility of the carriage and the vehicle.

DESCRIPTION OF SYMBOLS 1 Base 2 Primary spring system 3 Bogie 4 Suspension acting force from the vertical direction to the bogie 5 First load cell 6 Suspension acting force from the left and right horizontal direction to the bogie 7 Second load cell 8 Suspension from the horizontal direction before and after the bogie Acting force 9 Third load cell

Claims (2)

(A) The suspension acting force acting on the cart is measured by the load cell arranged in each direction of the vibration device as the cart of the model test apparatus of the floating vehicle,
(B) Obtain the bogie displacement by a numerical solution based on the suspension acting force,
(C) The amount of displacement of the carriage is reflected in the control amount of the carriage, and the movement direction of the model experimental apparatus is the six directions of front, rear, left, right, up, down, roll, pitch, and yaw with respect to the carriage. The suspension acting force is f, the spring constant is k, the carriage displacement amount is x (f, x is a vector amount, k is a tensor amount), and an inverse matrix of the spring constant k is obtained. carriage movement reproducing method using a suspension interaction force in a model experimental apparatus of a floating vehicle, characterized in Rukoto seek each carriage displacement direction. 2. A method of reproducing bogie motion using suspension interaction force in a model experimental apparatus for a floating vehicle according to claim 1 , wherein a plurality of spring constants k are prepared in accordance with the state, and the plurality of spring constants k are switched. A method for reproducing bogie motion using a suspension interaction force in a model test apparatus for a floating vehicle characterized by being used .

Images