WO2021082774A1 - 高速列车动态行为主动控制系统 - Google Patents

高速列车动态行为主动控制系统 Download PDF

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Publication number
WO2021082774A1
WO2021082774A1 PCT/CN2020/115330 CN2020115330W WO2021082774A1 WO 2021082774 A1 WO2021082774 A1 WO 2021082774A1 CN 2020115330 W CN2020115330 W CN 2020115330W WO 2021082774 A1 WO2021082774 A1 WO 2021082774A1
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card board
control system
driving motor
active control
dynamic behavior
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PCT/CN2020/115330
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English (en)
French (fr)
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张春巍
王昊
徐洋
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青岛理工大学
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Publication of WO2021082774A1 publication Critical patent/WO2021082774A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems

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  • the invention relates to the field of vibration control, in particular to an active control system for dynamic behavior of high-speed trains.
  • the existing vibration control system has shortcomings, which are mainly manifested in the following aspects:
  • the existing suspension system only considers the two directions of vertical and horizontal forces, and its force direction is also limited to two linear directions.
  • the dynamic response of the train will produce rotational motions similar to rolling, shaking and nodding. Only relying on the linear force provided by the suspension system cannot form the most effective control force, which makes the existing suspension The control function of the system cannot be fully exerted, and the unfavorable dynamic response of the train cannot be fully suppressed.
  • the main purpose of the present invention is to provide an active control system for the dynamic behavior of high-speed trains in view of the above-mentioned problems in the prior art.
  • the active control system for the dynamic behavior of a high-speed train of the present invention includes a sensor, a controller and a control device;
  • the sensor is installed on the controlled train.
  • the control device includes a base, a drive motor, an encoder, a transmission and a mass disc.
  • the base is fixed on the controlled train, the drive motor is fixed on the base, and the encoder is coaxially fixed on the bottom of the drive motor.
  • a transmission is arranged on the top of the driving motor, and the rotating shaft of the driving motor is fixedly connected with the mass disc; the controller is electrically connected with the driving motor, the sensor and the encoder.
  • the drive motor is fixed on the base through a card board assembly
  • the card board assembly includes a left card board and a right card board, the left card board and the right card board are both U-shaped, the right card board is fixed on the base, the left card board The two ends are connected with the two ends of the right card board through bolts, and the driving motor is clamped between the U-shaped side surfaces of the left card board and the right card board.
  • both ends of the right card board are respectively provided with elongated holes.
  • a fastening bolt is further provided in the middle of the right card board.
  • a shaft sleeve is arranged in the center of the mass disc, and the rotating shaft of the driving motor and the shaft sleeve are connected by bolts.
  • the driving motor is a stepping motor or a servo motor.
  • the transmission is a reducer.
  • the encoder adopts a photoelectric encoder.
  • the present invention uses active control technology to give full play to the output torque of the system, so that the output torque can directly act on the train body, give full play to the rotation control effect, and ensure the control effect to the greatest extent, and can be based on actual needs. Realize different control effects by adjusting the system control algorithm, and then realize the vibration control of the train compartment;
  • the present invention uses a drive motor to achieve control force output, does not require a complicated frequency modulation design process, avoids the problem of inability to achieve control due to the limitation of frequency modulation technology, and has a wider application range.
  • Figure 1 is a schematic diagram of the structure of the present invention
  • Figure 2 is a schematic diagram of the structure of the card board assembly
  • Figure 3 is a schematic diagram of the structure of the right card board
  • Figure 4 is a schematic diagram of the quality disc structure
  • Figure 5 is a schematic diagram of the structure of the drive motor
  • the active control system for dynamic behavior of high-speed trains of the present invention includes sensors, controllers and control devices installed on the controlled train;
  • the control device includes a base 1, a drive motor 2 and a mass disc 3.
  • the base is fixed on the controlled train, and the drive motor is fixed on the base through a pallet assembly; as shown in Figure 2, the pallet assembly includes The left card board 4 and the right card board 5, the left card board and the right card board are U-shaped, the right card board is fixed on the base, the two ends of the left card board and the right card board are connected by bolts to drive the motor card It is tightly located between the U-shaped sides of the left card board and the right card board.
  • long strip holes 6 are also provided at both ends of the right card board.
  • the relative position between the elongated holes can make the left and right clamping plates clamp different size drive motors.
  • a fastening bolt 7 is also provided at the middle position of the right chuck, and the drive motor is further fixed by the fastening bolt to avoid the risk of the motor falling out under high-speed rotation.
  • a shaft sleeve 8 is fixed at the center of the mass disc.
  • a transmission 9 is provided on the top of the drive motor, and an encoder 10 coaxial with the drive motor is provided on the bottom.
  • the drive motor shaft 11 and the shaft The sleeves are connected by bolts.
  • the driving motor is a stepping motor or a servo motor
  • the transmission is a reducer
  • the encoder is a photoelectric encoder
  • the controller is electrically connected with the driving motor, sensor and encoder.
  • the controller receives the signals of the encoder installed at the end of the driving motor and the sensor installed on the controlled car, and transmits the control signal to the driving motor, and then the quality of the disc Real-time control of the rotation state.
  • the action process of the present invention is as follows:
  • the sensor collects the movement state of the controlled carriage and transmits the data to the controller.
  • the controller controls the action of the drive motor.
  • the drive motor controls the mass disc to rotate according to the real-time measured carriage movement state.
  • the mass disc The force generated by the rotation then acts on the base, which is transmitted to the controlled car and controls the torsion of the controlled car; the encoder installed coaxially at the end of the drive motor collects the running status of the drive motor in real time and feeds it back to the controller to realize the controller and The closed-loop control of the controlled car and the drive motor.
  • the rotation of the mass disc controlled by the drive motor is changed in real time, thereby adjusting the control torque acting on the controlled car, and adjusting the drive energy output to control the vibration of the car. Finally, the purpose of controlling the vibration of the train compartment is achieved.
  • the active control system of the present invention can be applied not only to high-speed railway trains, but also to transportation vehicles such as subways, light rails, trains, automobiles and ships.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

提供了一种高速列车动态行为主动控制系统，其包括传感器、控制器和控制装置；传感器安装于被控列车上，控制装置包括底座（1）、驱动电机（2）、编码器（10）、变速器（9）和质量圆盘（3），底座（1）固定于被控列车上，驱动电机（2）固定于底座（1）上，编码器（10）同轴固定于驱动电机（2）的底部，驱动电机（2）顶部设置有变速器（9），驱动电机转轴（11）与质量圆盘（3）固定连接；控制器与驱动电机（2）、传感器和编码器（10）电连接。运用主动控制技术，充分发挥了系统的输出力矩作用，使得输出力矩可以直接作用在列车车体上，并可以根据实际需要通过调整系统控制算法实现不同的控制效果，进而实现对列车车厢的振动控制。

Description

高速列车动态行为主动控制系统 技术领域
本发明涉及振动控制领域，具体而言，涉及一种高速列车动态行为主动控制系统。
背景技术
随着高速铁路覆盖的区域越来越广，车辆的行驶速度越来越快，车辆各部件及轮轨间动态作用力加剧，由此引起的动力学问题更加显著，因此开展对车辆动力学的研究显得尤为重要。
列车在高速运转的情况下，受到以下因素的影响：①轨道上的裂缝和杂物以及铁轨地基不均匀沉降的影响；②底部滚轮长期磨损的影响；③列车进入隧道受侧向风压的影响；④列车在转弯处受两端铁轨的高度分布不均匀的影响。基于以上因素的影响，引起的轨道不平顺的激励，使运行在轨道上的车辆产生强迫随机振动，进而引起列车车厢的随机振动，影响列车的安全性以及旅客的舒适性，严重时会使列车失稳发生侧翻和脱轨，造成巨大的人员伤亡和经济损失。
为了解决由列车车厢振动引起的各种问题，消除或减轻由外部激励引起的随机振动，结构振动控制技术近年来得到了迅速的发展。
但是现有的振动控制系统存在着不足，主要表现在以下几个方面：
第一，现有的悬挂系统仅考虑竖向和横向两个力的方向，其作用力方向也仅限于两个直线方向。但在现实情况下，列车的动态响应会产生类似于侧滚、摇头、点头的转动形式运动，仅依靠悬挂系统提供的直线力作用，无法形成最有效的控制力作用，这使得现有的悬挂系统的控制作用无法得到充分的发挥，导致列车的不利动态响应也无法得到充分的抑制。
第二，大量试验和研究表明，悬挂系统的两个直线力作用下的控制力特性呈现出了较强的非线性，对于不同的激励频率所实现的对列车的控制效果不同，甚至在某种激励频率下，悬挂系统非但没有达到控制效果反而会放大体系的响应，无法产生预期的控制力矩作用，无法施加直接有效的控制作用。
以上不足，导致现有的列车振动控制装置不能很好地解决车厢随机振动等问题，现有的振动控制装置无法满足列车在高速行驶过程中遇复杂环境产生的振动控制需求。
发明内容
本发明的主要目的在于针对现有技术中存在的上述问题,提供一种高速列车动态行为主动控制系统。
为了实现上述目的，本发明的高速列车动态行为主动控制系统，包括传感器、控制器和控制装置；
传感器安装于被控列车上，控制装置包括底座、驱动电机、编码器、变速器和质量圆盘，底座固定于被控列车上，驱动电机固定于底座上，编码器同轴固定于驱动电机的底部，驱动电机顶部设置有变速器，驱动电机转轴与质量圆盘固定连接；控制器与驱动电机、传感器和编码器电连接。
优选地，驱动电机通过卡板组件固定在底座上，卡板组件包括左卡板和右卡板，左卡板和右卡板均为U型，右卡板固定于底座上，左卡板的两端与右卡板的两端通过螺栓连接，驱动电机卡紧在左卡板和右卡板的U型侧面之间。
优选地，右卡板的两端分别设置有长条孔。
优选地，右卡板的中间还设置有紧固螺栓。
优选地，质量圆盘中心设置有轴套，驱动电机转轴与轴套通过螺栓连接。
优选地，驱动电机为步进电机或伺服电机。
优选地，变速器为减速器。
优选地，编码器采用光电编码器。
本发明具有以下有益效果：
(1)本发明运用主动控制技术，充分发挥了系统的输出力矩作用，使得输出力矩可以直接作用在列车车体上，充分发挥转动控制作用，最大程度地保证了控制效果，并可以根据实际需要通过调整系统控制算法实现不同的控制效果，进而实现对列车车厢的振动控制；
(2)本发明采用驱动电机实现控制力输出，无需进行复杂的调频设计过程，避免了由于调频技术限制而无法实现控制的问题，适用范围更为广泛。
附图说明
图1是本发明结构示意图；
图2是卡板组件结构示意图；
图3是右卡板结构示意图；
图4是质量圆盘结构示意图；
图5是驱动电机结构示意图；
其中，上述附图包括以下附图标记：1、底座；2、驱动电机；3、质量圆盘；4、左卡板；5、右卡板；6、长条孔；7、紧固螺栓；8、轴套；9、变速器；10、编码器；11、驱动电机转轴。
具体实施方式
下面结合附图对本发明作进一步说明。
本发明的高速列车动态行为主动控制系统包括安装于被控列车上的传感器、控制器和控制装置；
如图1所示，控制装置包括底座1、驱动电机2和质量圆盘3，底座固定于被控列车上，驱动电机通过卡板组件固定在底座上；如图2所示，卡板组件包括左卡板4和右卡板5，左卡板和右卡板均为U型，右卡板固定于底座上，左卡板的两端与右卡板的两端通过螺栓连接，驱动电机卡紧在左卡板和右卡板的U型侧面之间。
如图3所示，为了使卡板组件适应不同尺寸的电机，提高该控制系统的利用率，在右卡板的两端还分别设置有长条孔6，通过调整左卡板上螺栓孔与长条孔之间的相对位置，可以使左卡板和右卡板夹紧不同尺寸的驱动电机。为了使驱动电机固定地更牢固，在右卡板的中间位置还设置有紧固螺栓7，通过紧固螺栓进一步固定驱动电机，以避免高速旋转的情况下电机脱出的风险。
如图4所示，质量圆盘中心位置固定有轴套8，如图5所示，驱动电机顶部设置有变速器9，底部设置有与驱动电机同轴的编码器10，驱动电机转轴11与轴套通过螺栓连接。
驱动电机采用步进电机或伺服电机，变速器为减速器，编码器采用光电编码器。
控制器与驱动电机、传感器和编码器电连接，控制器接收安装在驱动电机末端的编码器以及安装在被控车厢上的传感器的信号，并传递控制信号给驱动电机，进而对质量圆盘的回转状态进行实时控制。
本发明作用过程如下：
在控制过程中，传感器采集被控车厢的运动状态，并将数据传送给控制器，控制器控制驱动电机动作，驱动电机根据实时测量的车厢运动状态来控制质量圆盘发生回转转动，质量圆盘转动产生的作用力进而作用于底座上，从而传递给被控车厢，控制被控车厢扭转；驱动电机末端同轴安装的编码器，实时采集驱动电机运转情况并反馈给控制器，实现控制器与被控车厢以及驱动电机的闭环控制。
通过根据实时采集的被控车厢的扭转幅度以及频率，实时更改由驱动电机控制的质量圆盘的转动，从而调节作用在被控车厢上的控制力矩，调节驱动能源输出大小来控制车厢的振动，最终达到控制列车车厢振动的目的。
本发明的主动控制系统不仅可以应用于高铁列车，还可以应用于地铁、轻轨、火车、汽车和轮船等交通工具。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种高速列车动态行为主动控制系统，其特征在于，包括传感器、控制器和控制装置；
    传感器安装于被控列车上，控制装置包括底座(1)、驱动电机(2)、编码器(10)、变速器(9)和质量圆盘(3)，底座(1)固定于被控列车上，驱动电机(2)固定于底座(1)上，编码器(10)同轴固定于驱动电机(2)的底部，驱动电机(2)顶部设置有变速器(9)，驱动电机转轴(11)与质量圆盘(3)固定连接；控制器与驱动电机(2)、传感器和编码器(10)电连接。
  2. 根据权利要求1所述的高速列车动态行为主动控制系统，其特征在于，驱动电机(2)通过卡板组件固定在底座(1)上，卡板组件包括左卡板(4)和右卡板(5)，左卡板(4)和右卡板(5)均为U型，右卡板(5)固定于底座(1)上，左卡板(4)的两端与右卡板(5)的两端通过螺栓连接，驱动电机(2)卡紧在左卡板(4)和右卡板(5)的U型侧面之间。
  3. 根据权利要求2所述的高速列车动态行为主动控制系统，其特征在于，右卡板(5)的两端分别设置有长条孔(6)。
  4. 根据权利要求2所述的高速列车动态行为主动控制系统，其特征在于，右卡板(5)的中间位置还设置有紧固螺栓(7)。
  5. 根据权利要求1所述的高速列车动态行为主动控制系统，其特征在于，质量圆盘(3)中心设置有轴套(8)，驱动电机转轴(11)与轴套(8)通过螺栓连接。
  6. 根据权利要求1所述的高速列车动态行为主动控制系统，其特征在于，驱动电机(2)为步进电机或伺服电机。
  7. 根据权利要求1所述的高速列车动态行为主动控制系统，其特征在于，变速器(9)为减速器。
  8. 根据权利要求1所述的高速列车动态行为主动控制系统，其特征在于，编码器(10)采用光电编码器(10)。
PCT/CN2020/115330 2019-10-31 2020-09-15 高速列车动态行为主动控制系统 WO2021082774A1 (zh)

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CN110778641B (zh) * 2019-10-31 2021-06-22 青岛理工大学 高速列车动态行为主动控制系统
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