车辆系统刚柔耦合动力学仿真方法及仿真平台研究
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摘要
高速列车的高速化运营和轻量化设计导致车辆系统的主要结构部件弹性振动加剧,而高频的弹性振动会引起诸多问题,如车体地板抖动导致车辆平稳性和乘坐舒适度恶化,构架高频振动引起结构疲劳破坏,轮对高频振动产生噪声污染和不均匀磨耗等。在研究车辆动力学行为对结构弹性振动特性的相互影响时,需要采用多体系统动力学理论,建立车辆系统刚柔耦合模型。目前进行刚柔耦合仿真主要依赖通用多体动力学软件完成,但对于特殊的仿真需求,如计算结构动态应力、考虑轮对弹性的刚柔耦合仿真等,商业软件实现过程比较复杂,甚至无法实现。为此本文对车辆系统刚柔耦合动力学理论和车辆动力学平台的相关技术进行研究,建立车辆系统刚柔耦合仿真平台。具体的研究内容主要包括以下几个方面：
(1)详细研究了一般多体系统刚柔耦合动力学理论,并在此基础上引入轨道坐标系,推导了基于轨道坐标系的车辆系统刚柔耦合动力学方程。研究了基于车辆子结构的列车建模方法。
(2)在传统迹线法的基础上,提出了分区段接触点搜索算法用于处理轮轨多点接触问题。采用轮轨接触几何修正和多层平滑的方法对轮轨接触参数进行平滑处理,确保仿真计算的稳定性。
(3)开发了多刚体动力学仿真平台,在此基础上增加了柔性体前处理模块、刚柔耦合模块、轮轨接触模块等,形成了车辆系统刚柔耦合动力学仿真平台。建立了多刚体车辆动力学模型,一般多体刚柔耦合模型和车辆系统刚柔耦合动力学模型等多种模型,并设计多种工况对仿真平台进行验证,结果证明了该仿真平台的正确性和可靠性。
(4)研究了拉格朗日描述的轮对刚柔耦合方程,以及由于轮对大角度旋转带来的编程困难。为了解决轮对刚柔耦合仿真的困难,推导了基于任意拉格朗日-欧拉法(ALE)法的轮轨刚柔耦合方程,并设计了考虑轮对弹性的轮轨接触点计算方法。
(5)在本文搭建的车辆系统刚柔耦合仿真平台上建立了车辆系统刚柔耦合动力学模型,分析了柔性车体、柔性构架和柔性轮对的弹性振动及其对动力学性能的影响。
High operations speed and lightweight design of high-speed train lead to intensified elastic vibration of the major components of the vehicle system.High-frequency elastic vibration can cause many problems. Such as, carbody floor chattering deteriorates the rides comfort; Bogie frame high frequency vibration causes structural fatigue damage; Wheelset high frequency vibration brings noise pollution and uneven wear. The multi-body system dynamics theory was adopt and rigid-flexible coupling dynamic model of vehicle systems are established to study the interaction between elastic vibration characteristics of structural and the vehicle dynamic performance. Rig id-flexible coupling simulation mainly depends on common multi-body dynamics software at present. But for special simulation requirement, such as structural dynamic stress calculation, elastic wheelset simulation, the implement process is more complicated, and even impossible to achieve. Therefore, this paper focus on rigid-flexible coupling theory study and vehicle dynamics and their related technologies research to build rigid-flexible coupling simulation platform of vehicle system. The following aspects are studied:
(1) Rigid-flexible coupling dynamics theory of general multi-body system is studied in detail. And on this basis, the trajectory coordinate system was introduced to derived rigid-flexible coupling dynamic formulations of vehicle system. The train modeling method based on the vehicle substructure was investigated.
(2) On the basis of contact line method, segments contact points search algorithm was developed for multiple points contact situation. In order to ensure the stability of the simulation, wheel-rail contact geometry correction and multilayer smoothing method were used to get smooth wheel-rail contact parameters.
(3) A general multi-rigid-body dynamics simulation platform with flexible body pre-processing module, rigid-flexible coupling module and wheel-rail contact module formed a rigid-flexible coupling dynamic simulation platform of vehicle system. Established Rigid body dynamics model of vehicle system, rigid-flexible coupling model of general multi-body system and rigid-flexible coupling model of vehicle system and designed several cases to validate the platform. The results certificate the accuracy and reliability of the platform.
(4) Rigid-flexible coupling of wheelset described by Lagrangian method and programming difficulties caused by wheelset large angle rotation was studied. In order to solve those difficulties, new equations based on Arbitrary Lagrangian-Eulerian (ALE) method were derived, and wheel-rail contact point calculation method of flexible wheelset was designed.
(5) Rigid-flexible dynamic model of vehicle system considering the elastic deformation of carbody, bogie frame and wheelset were built on the dynamic platform. The elastic deformation characteristics and its influence on vehicle dynamic were analyzed.
(1)详细研究了一般多体系统刚柔耦合动力学理论,并在此基础上引入轨道坐标系,推导了基于轨道坐标系的车辆系统刚柔耦合动力学方程。研究了基于车辆子结构的列车建模方法。
(2)在传统迹线法的基础上,提出了分区段接触点搜索算法用于处理轮轨多点接触问题。采用轮轨接触几何修正和多层平滑的方法对轮轨接触参数进行平滑处理,确保仿真计算的稳定性。
(3)开发了多刚体动力学仿真平台,在此基础上增加了柔性体前处理模块、刚柔耦合模块、轮轨接触模块等,形成了车辆系统刚柔耦合动力学仿真平台。建立了多刚体车辆动力学模型,一般多体刚柔耦合模型和车辆系统刚柔耦合动力学模型等多种模型,并设计多种工况对仿真平台进行验证,结果证明了该仿真平台的正确性和可靠性。
(4)研究了拉格朗日描述的轮对刚柔耦合方程,以及由于轮对大角度旋转带来的编程困难。为了解决轮对刚柔耦合仿真的困难,推导了基于任意拉格朗日-欧拉法(ALE)法的轮轨刚柔耦合方程,并设计了考虑轮对弹性的轮轨接触点计算方法。
(5)在本文搭建的车辆系统刚柔耦合仿真平台上建立了车辆系统刚柔耦合动力学模型,分析了柔性车体、柔性构架和柔性轮对的弹性振动及其对动力学性能的影响。
High operations speed and lightweight design of high-speed train lead to intensified elastic vibration of the major components of the vehicle system.High-frequency elastic vibration can cause many problems. Such as, carbody floor chattering deteriorates the rides comfort; Bogie frame high frequency vibration causes structural fatigue damage; Wheelset high frequency vibration brings noise pollution and uneven wear. The multi-body system dynamics theory was adopt and rigid-flexible coupling dynamic model of vehicle systems are established to study the interaction between elastic vibration characteristics of structural and the vehicle dynamic performance. Rig id-flexible coupling simulation mainly depends on common multi-body dynamics software at present. But for special simulation requirement, such as structural dynamic stress calculation, elastic wheelset simulation, the implement process is more complicated, and even impossible to achieve. Therefore, this paper focus on rigid-flexible coupling theory study and vehicle dynamics and their related technologies research to build rigid-flexible coupling simulation platform of vehicle system. The following aspects are studied:
(1) Rigid-flexible coupling dynamics theory of general multi-body system is studied in detail. And on this basis, the trajectory coordinate system was introduced to derived rigid-flexible coupling dynamic formulations of vehicle system. The train modeling method based on the vehicle substructure was investigated.
(2) On the basis of contact line method, segments contact points search algorithm was developed for multiple points contact situation. In order to ensure the stability of the simulation, wheel-rail contact geometry correction and multilayer smoothing method were used to get smooth wheel-rail contact parameters.
(3) A general multi-rigid-body dynamics simulation platform with flexible body pre-processing module, rigid-flexible coupling module and wheel-rail contact module formed a rigid-flexible coupling dynamic simulation platform of vehicle system. Established Rigid body dynamics model of vehicle system, rigid-flexible coupling model of general multi-body system and rigid-flexible coupling model of vehicle system and designed several cases to validate the platform. The results certificate the accuracy and reliability of the platform.
(4) Rigid-flexible coupling of wheelset described by Lagrangian method and programming difficulties caused by wheelset large angle rotation was studied. In order to solve those difficulties, new equations based on Arbitrary Lagrangian-Eulerian (ALE) method were derived, and wheel-rail contact point calculation method of flexible wheelset was designed.
(5) Rigid-flexible dynamic model of vehicle system considering the elastic deformation of carbody, bogie frame and wheelset were built on the dynamic platform. The elastic deformation characteristics and its influence on vehicle dynamic were analyzed.
引文
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