高速列车转向架刚度测试模型及新型动态测试系统研究
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摘要
作为轨道车辆唯一走行部的转向架,其自身悬挂刚度参数的取值是否合理与行车安全性和乘坐舒适性密切相关,对列车运行的其它品质也起到了至关重要的作用。为此,深入研究转向架悬挂刚度的测试模型和方法,并开发测试方法简便、测试功能全面、测试结果可靠的高速列车转向架刚度参数测试台系统就显得尤为重要。
本文首先对转向架悬挂刚度参数的测试方法进行了深入研究,提出了多种悬挂定位刚度的静、动态测试模型。以六自由度加载平台结构和双十字加载滑台结构为特点,建立了转向架各系悬挂刚度测试的加载方案,并对两种加载平台的运动姿态解算进行了深入分析,建立了多缸协调加载的平台运动姿态解算函数,在此基础上,对加载误差产生的原因进行了分析。根据测试系统结构特点,对液压加载系统的控制策略进行了研究,提出了基于RBF网络在线整定PID的多通道协调加载的控制策略,而对每个单通道则采用了零相差前馈跟踪补偿的控制方式,并给出分析结果。最后以CRH3型高速动车组的非动力转向架为例,在AMESime-ADMAS/Rail联合仿真测试系统中进行了仿真测试,对本文提出的测试模型、加载方案及控制策略进行了验证。
综上所述,论文在转向架悬挂刚度的动、静态测试方面建立了一整套新颖的、系统的测试模型和加载方案,实现了对高速列车转向架悬挂多项刚度参数的动、静态测试。
Since 2007 the railway has accelerated for the sixth time in large scale, the main railway lines have run more than 160 groups of“Harmony”D-prefaced trains at the speed of 200km/h. The speed accelerates from 160km/h to 200km/h, and the speed of some section reaches 250km/h. In 2008 Jing-Jin inter-city high speed railway was run successfully and the highest speed reaches 400km/h.
With the batches running of high-speed multiple units, continuously raising speed of high-speed trains brought economic benefit and social benefit to railway department, meanwhile, a series of technical difficulties were put forward. aim at bogie dynamic performance research and product development . As the unique running gear of railway vehicle, whether it rational about itself suspension parameters is closely related to the running safety, passing ability and passenger comfort, which react a decisive role to the running quality, the exploitation of bogie suspension stiffness parameters test bench to the promote train running stability and passenger comfort possess intuitive practical significance.
At present, bogie parameters test benches at home and aboard have the characteristics of high price are expensive, long maintenance cycle and high maintenance cost, what is more, they can not evaluate bogie suspension stiffness roundly, accurately and efficiently, therefore, they can not be widely applied in the production of domestic rail vehicles. For these reasons, manufacture and development reasonable structure,simple testing method, comprehensive test function, reliable test function about high-speed train bogie stiffness parameters test benche system seems especially important.
This paper focuses on the close relation between bogie suspension parameters and running quality. This paper makes a deep research on the new testing methods and new testing systems of bogie suspension positioning stiffness for high speed trains, based on the full research of the present situation of bogie parameter testing techniques at home and aboard. According to the current standard at home and aboard and specific requirements of the project, this paper makes a profound research on the new methods and novel testing systems of high-speed bogie suspension positioning stiffness and establishes a set of bogie suspension positioning parameters of testing models and testing methods. Centered on these new testing systems, the main contents of the study and the results are as follows:
1、A set of bogie suspension positioning stiffness about static as well as dynamic testing models and testing methods were established. According to the structure characteristic of high-speed bogie simplified model, this paper puts forward various stiffness parameters testing models and testing methods, which including: static test about primary suspension, secondary suspension as well as composite positioning stiffness at vertical, transversal and longitudinal, addition some rotary stiffness and radial stiffness test models in each department be included also. Made further research on suspension incentive method and dynamic stiffness test method, established bogie elastic support spatial coupling motion model, deep analysed bogie model basing on coupling motion also. Proposed various stiffness parameters about dynamic testing models and methods, which including: dynamic test about primary suspension, secondary suspension as well as composite positioning stiffness at vertical, transversal and longitudinal. The stiffness dynamic characteristic of secondary suspension air spring has been researched also. According to these theoretical analysis and study about test models, for this implementation scheme of novel testing bench laying a foundation.
2、Designed as well as developed a novel testing bench system of bogie stiffness parameters. Basis for this project technical regulation, the structure and function has been expounded exhaustivly, a novel system of high-speed railway train suspension positioning stiffness test bench has been developed, mainly analyzed composition, structure, practical function about mechanical system, hydraulic system and measurement system, established bogie testing bench system. Taken for vantage point of bogie testing, made analysis about force condition in the process of bogie testing. Made thorough study on motion solution model of 6-dof loading plate and double cross loading slipway, established motion solution model of double cross loading slipway, deeply analyzed 3-dof moving posture about one of the double cross loading slipway as well as functional relation of 3 cylinders coordinated loading, then take X-Y direction translatory moving as well as round rotation center O rotatedψ-angle about cross-slipway for instance, to resolve 3 cylinders length. Determined the functional relation between 6-dof loading plate posture and 7 cylinders coordinated loading, taken 6-dof loading plate for instance, analyzed output error cause of plate also, proposed compensation algorithm of plate coupled motion.By detail design and deep analysis ,the novel high-speed train bogie stiffness testing bench system has been established.
3、Research on control strategy of hydraulic loading system. According to the feature of hydraulic loading system, multivariate coordinated loading control strategy using RBF-network has been proposed, a controller of Zero Phase Error Tracking(ZPETC) using in every single hydraulic loading system has been designed. Carried out theoretical analysisand verification Aiming at single channel control effect as well as multi-channel coordinated loading capacity, for this preparative of simulation test system. simulation results show that the ZPETC can improve control effect of single hydraulic system with significantly, meanwhile, the ZPETC can eliminate amplitude error and phase error also, which made their error close to zero nearly. Using the control strategy of RBF-network on-line setting PID parameters coordinated individual cylinder’s motion, realized individual plate’s expected loading target.
4、Established a co-simulation testing system of bogie. Taken the CRH3 bogie that without power for instance, established dynamics models both complete vehicle and independent bogie. According to the bogie testing models and method about static as well as dynamic, structural features, control strategy of hydraulic system, to carry out simulation test and verification work for these models in the environment of AMESim-Adams/Rail co-simulation test. Through the analyzing of simulation curves, verified the fact that testing results can reflect each suspension stiffness’s actual situation, obtained satisfied result, besides that, verified test model’s correctness and test bench construction design’s rationality, meanwhile, the hydraulic system can realize anticipated loading to bogie, these working proved the novel test bench system can realize testing about dynamic as well as static of bogie suspension locating stiffness, which reduced the development cycle and cost also.
The research and the development work made by this paper is a whole system about test method as bonding phase test bench of bogie suspension stiffness, test bench construction, loading mode, control algorithm and emulation method own certainly unique feature. For the manufacture and extension about this novel test bench system laid a foundation. The results of this paper play a positive role to promote the technical content, shorten cycle of product development as well.
本文首先对转向架悬挂刚度参数的测试方法进行了深入研究,提出了多种悬挂定位刚度的静、动态测试模型。以六自由度加载平台结构和双十字加载滑台结构为特点,建立了转向架各系悬挂刚度测试的加载方案,并对两种加载平台的运动姿态解算进行了深入分析,建立了多缸协调加载的平台运动姿态解算函数,在此基础上,对加载误差产生的原因进行了分析。根据测试系统结构特点,对液压加载系统的控制策略进行了研究,提出了基于RBF网络在线整定PID的多通道协调加载的控制策略,而对每个单通道则采用了零相差前馈跟踪补偿的控制方式,并给出分析结果。最后以CRH3型高速动车组的非动力转向架为例,在AMESime-ADMAS/Rail联合仿真测试系统中进行了仿真测试,对本文提出的测试模型、加载方案及控制策略进行了验证。
综上所述,论文在转向架悬挂刚度的动、静态测试方面建立了一整套新颖的、系统的测试模型和加载方案,实现了对高速列车转向架悬挂多项刚度参数的动、静态测试。
Since 2007 the railway has accelerated for the sixth time in large scale, the main railway lines have run more than 160 groups of“Harmony”D-prefaced trains at the speed of 200km/h. The speed accelerates from 160km/h to 200km/h, and the speed of some section reaches 250km/h. In 2008 Jing-Jin inter-city high speed railway was run successfully and the highest speed reaches 400km/h.
With the batches running of high-speed multiple units, continuously raising speed of high-speed trains brought economic benefit and social benefit to railway department, meanwhile, a series of technical difficulties were put forward. aim at bogie dynamic performance research and product development . As the unique running gear of railway vehicle, whether it rational about itself suspension parameters is closely related to the running safety, passing ability and passenger comfort, which react a decisive role to the running quality, the exploitation of bogie suspension stiffness parameters test bench to the promote train running stability and passenger comfort possess intuitive practical significance.
At present, bogie parameters test benches at home and aboard have the characteristics of high price are expensive, long maintenance cycle and high maintenance cost, what is more, they can not evaluate bogie suspension stiffness roundly, accurately and efficiently, therefore, they can not be widely applied in the production of domestic rail vehicles. For these reasons, manufacture and development reasonable structure,simple testing method, comprehensive test function, reliable test function about high-speed train bogie stiffness parameters test benche system seems especially important.
This paper focuses on the close relation between bogie suspension parameters and running quality. This paper makes a deep research on the new testing methods and new testing systems of bogie suspension positioning stiffness for high speed trains, based on the full research of the present situation of bogie parameter testing techniques at home and aboard. According to the current standard at home and aboard and specific requirements of the project, this paper makes a profound research on the new methods and novel testing systems of high-speed bogie suspension positioning stiffness and establishes a set of bogie suspension positioning parameters of testing models and testing methods. Centered on these new testing systems, the main contents of the study and the results are as follows:
1、A set of bogie suspension positioning stiffness about static as well as dynamic testing models and testing methods were established. According to the structure characteristic of high-speed bogie simplified model, this paper puts forward various stiffness parameters testing models and testing methods, which including: static test about primary suspension, secondary suspension as well as composite positioning stiffness at vertical, transversal and longitudinal, addition some rotary stiffness and radial stiffness test models in each department be included also. Made further research on suspension incentive method and dynamic stiffness test method, established bogie elastic support spatial coupling motion model, deep analysed bogie model basing on coupling motion also. Proposed various stiffness parameters about dynamic testing models and methods, which including: dynamic test about primary suspension, secondary suspension as well as composite positioning stiffness at vertical, transversal and longitudinal. The stiffness dynamic characteristic of secondary suspension air spring has been researched also. According to these theoretical analysis and study about test models, for this implementation scheme of novel testing bench laying a foundation.
2、Designed as well as developed a novel testing bench system of bogie stiffness parameters. Basis for this project technical regulation, the structure and function has been expounded exhaustivly, a novel system of high-speed railway train suspension positioning stiffness test bench has been developed, mainly analyzed composition, structure, practical function about mechanical system, hydraulic system and measurement system, established bogie testing bench system. Taken for vantage point of bogie testing, made analysis about force condition in the process of bogie testing. Made thorough study on motion solution model of 6-dof loading plate and double cross loading slipway, established motion solution model of double cross loading slipway, deeply analyzed 3-dof moving posture about one of the double cross loading slipway as well as functional relation of 3 cylinders coordinated loading, then take X-Y direction translatory moving as well as round rotation center O rotatedψ-angle about cross-slipway for instance, to resolve 3 cylinders length. Determined the functional relation between 6-dof loading plate posture and 7 cylinders coordinated loading, taken 6-dof loading plate for instance, analyzed output error cause of plate also, proposed compensation algorithm of plate coupled motion.By detail design and deep analysis ,the novel high-speed train bogie stiffness testing bench system has been established.
3、Research on control strategy of hydraulic loading system. According to the feature of hydraulic loading system, multivariate coordinated loading control strategy using RBF-network has been proposed, a controller of Zero Phase Error Tracking(ZPETC) using in every single hydraulic loading system has been designed. Carried out theoretical analysisand verification Aiming at single channel control effect as well as multi-channel coordinated loading capacity, for this preparative of simulation test system. simulation results show that the ZPETC can improve control effect of single hydraulic system with significantly, meanwhile, the ZPETC can eliminate amplitude error and phase error also, which made their error close to zero nearly. Using the control strategy of RBF-network on-line setting PID parameters coordinated individual cylinder’s motion, realized individual plate’s expected loading target.
4、Established a co-simulation testing system of bogie. Taken the CRH3 bogie that without power for instance, established dynamics models both complete vehicle and independent bogie. According to the bogie testing models and method about static as well as dynamic, structural features, control strategy of hydraulic system, to carry out simulation test and verification work for these models in the environment of AMESim-Adams/Rail co-simulation test. Through the analyzing of simulation curves, verified the fact that testing results can reflect each suspension stiffness’s actual situation, obtained satisfied result, besides that, verified test model’s correctness and test bench construction design’s rationality, meanwhile, the hydraulic system can realize anticipated loading to bogie, these working proved the novel test bench system can realize testing about dynamic as well as static of bogie suspension locating stiffness, which reduced the development cycle and cost also.
The research and the development work made by this paper is a whole system about test method as bonding phase test bench of bogie suspension stiffness, test bench construction, loading mode, control algorithm and emulation method own certainly unique feature. For the manufacture and extension about this novel test bench system laid a foundation. The results of this paper play a positive role to promote the technical content, shorten cycle of product development as well.
引文
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