摘要
为解决高速列车高运行速度、长运行距离下动力学性能恶化、运行平稳性下降等问题,设计提出了一种主动直接反馈与全状态反馈控制方法。基于Simpack仿真平台建立整车非线性模型,以模拟车辆真实运行状态与真实传感器采集信号;基于MATLAB平台建立整车垂向线性模型,采用Kalman滤波器,参考整车垂向线性模型建立状态观测器,依据设定数量与类型的传感器信号实时还原整车全状态量;分别采用基于主动直接反馈的天棚控制方法以及基于全状态反馈的线性二次型调节器(Linear Quadratic Regulator, LQR)控制方法与H∞控制方法,设计整车垂向全状态反馈控制算法,实现车辆二系垂向主动控制。针对直线运行工况和失效工况,利用SIMAT联合仿真方法对信号采集—状态观测—主动控制回路进行仿真分析,对比各方法的有效性。仿真计算结果表明:状态观测器能实现较为准确的整车全状态观测。配合状态观测结果可知,3种控制方法均能够在正常运行工况下提升车辆运行平稳性,车体平稳性指标最多降低了19%,最大加速度最多降低了54%;在前转向架空气弹簧失效工况下,主动控制方法能够在一定程度上保障车辆继续安全运行,采用H∞控制方法时,仿真时间内最大点头角降低了83%。
In order to solve the problems of high-speed trains,such as the deterioration of dynamic performance and the decline of running stability under long operating distance,an active direct feedback and full-state feedback control method are proposed.A nonlinear model of the whole vehicle is established based on Simpack simulation platform to simulate the real running state of the vehicle and the signals collected by real sensors.Based on the MATLAB platform,the vertical linear model of the vehicle is established,and the Kalman filter is used to establish a state observer with reference to the linear model,and the vehicle state quantity is restored in real time according to the set number and type of sensor signals.Using the Sky-Hook control based on direct signal feedback and the Linear Quadratic Regulator(LQR)and H∞control method based on full state feedback respectively,the vertical full state feedback control algorithm of the whole vehicle is designed to realize the vertical active control of the secondary suspension of the vehicle.Aiming at the straight line operation and fault conditions,the SIMAT joint simulation method is used to simulate and analyze the signal acquisition,state observation and active control loop,and evaluate the effectiveness of the method.Simulation results show that the state observer can realize more accurate state observation of the whole vehicle.Combined with the state observation results,all three control methods can improve the running stability of the vehicle under normal operating conditions,and the vehicle body stability index can be reduced by 19%at most,and the maximum vibration acceleration can be reduced by 54%.When the air spring of the front bogie fails,the active control method can ensure the vehicle to run safely to a certain extent.With the H∞control method,the maximum pitching angle during the simulation time is reduced by 83%.
作者
孙睿
胡志柯
黄志辉
SUN Rui;HU Zhike;HUANG Zhihui(Wuxi Metro Operation Co.,Ltd.,Wuxi 214000,China;Knorr Bremse Systems for Rail Vehicles(Suzhou)Co.,Ltd.,Suzhou 215151,China;State Key Laboratory of Rail Transit Vehicle System,Southwest Jiaotong University,Chengdu 610031,China)
出处
《现代制造工程》
CSCD
北大核心
2024年第8期87-94,共8页
Modern Manufacturing Engineering
基金
国家重点研发计划项目(2016YFB1200501)
四川省自然科学基金项目(2022NSFSC0034,2022NSFSC1901)。
