摘要
为分析磁浮列车通过曲线时的导向特性,以列车单个车辆转向架为对象,研究列车在弯道条件下运行时导向系统动力学的建模与控制方法,分析系统工作特性与影响因素。首先,根据刚体动力学理论,推导单转向架系统沿轨道运动的侧向偏移与偏航方程。针对二自由度导向系统模型,利用状态反馈和闭环极点配置方法,实现系统解耦和控制器设计。利用MATLAB软件搭建系统仿真模型,以实际线路的数学模型作为输入,获取不同运行速度、外部干扰等条件下导向工作状态变化,分析线路参数和运行速度的影响以及控制器的性能。最后,记录系统试验曲线,与仿真结果进行对照,两者的导向状态在跟踪轨道线路变化的趋势上基本一致,表明所建立的动力学模型具有合理性。为整车系统的动力学建模和曲线通过特性的研究提供了有效的方法。
In order to analyze the guidance characteristics when a maglev train negotiates a curve,the single bogie system is taken as the object of research.Dynamic modeling and control methods for the guidance system in curve negotiation are investigated.The working characteristics and influence factors of the guidance system are analyzed.In accordance with the dynamics theory of rigid bodies,the equations of lateral excursion and yaw of the single bogie system for the line tracking movement are derived.By state feedback and closed-loop pole placement,system decoupling and controller design for the 2-DOF guidance model are realized.The simulation model is set up with MATLAB,where the mathematic model of actual railway lines is introduced in as the input,guidance states varying with different running velocities and outside disturbances are obtained and the influence of curve parameters and running velocities on controller performance are analyzed.Finally,experimental curves are recorded and compared with simulation results,both changing guidance states being basically consistent in line tracking movement.The dynamic model is proved of rationality.The research provides effective methods for dynamic modeling and study of curve negotiation characteristics of the whole vehicle system.
出处
《铁道学报》
EI
CAS
CSCD
北大核心
2011年第7期32-37,共6页
Journal of the China Railway Society
基金
国家自然科学基金资助项目(60974128)
关键词
磁浮列车
单转向架
弯道运行
导向系统
动力学建模与控制
maglev train
single bogie
curve negotiation
guidance system
dynamic modeling and control
