高速铁路车辆—桥梁耦合系统动力学与控制一体化仿真研究
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摘要
车辆在桥梁上运行时,车辆与桥梁之间会发生动力相互作用,随着高速铁路的兴起,这种动力相互作用愈发明显也因此愈发引起重视,这也推动了车辆与桥梁动力相互作用研究长足发展,如今传统车辆-桥梁耦合系统动力学理论已日臻完善,理论分析已能在一定程度上代替试验工作。但伴随科技进步,机电技术正逐渐应用于现代车辆悬挂系统的设计中,目前悬挂系统已从传统的被动悬挂发展到了主动悬挂阶段,悬挂是影响车辆动力性能的关键部件,而对于车辆-桥梁耦合系统来说,车辆动力性能又直接关系到了桥梁的动力行为,因此如何评估主动悬挂技术的采用对车辆-桥梁耦合系统动力行为的影响,是车辆与桥梁动力相互作用研究需要面对的问题,也即是车辆-桥梁耦合系统动力学与控制问题,本文的研究工作就是针对如何解决这一问题而展开,主要内容如下:
1、基于车辆-桥梁耦合系统动力学理论,以MATLAB/Simulink及ANSYS作为仿真工具完成了车辆-桥梁耦合系统动力学仿真分析的二次模型化工作,构建了车辆-桥梁耦合系统动力学仿真平台——SimVB。
2、以MATLAB/Simulink作为仿真工具,建立了车辆主动悬挂数字化测控系统仿真模型,由于SimVB仿真平台的面向对象特性所以可方便的将其与SimVB仿真平台进行集成,从而实现车辆-桥梁耦合系统动力学与控制一体化仿真。
3、运用线性矩阵不等式(LMI)求解方法设计了车辆横向主动悬挂H∞鲁棒控制器,利用集成了主动悬挂测控系统的SimVB仿真平台,以横向主动悬挂车辆与下承式64m钢桁桥动力相互作用问题为例,进行了车辆-桥梁耦合系统动力学与控制一体化仿真分析,对主、被动悬挂车辆与桥梁动力相互作用特征进行了比较,同时对与主动悬挂控制水平及鲁棒性能密切相关的作动器控制力权重、传感器反馈信号噪声、车辆模型参数误差等三种因素对横向主动悬挂车辆与桥梁动力相互作用行为影响进行了仿真分析。
Vehicle running on the bridge, the dynamic interaction occurs between the vehicle and bridge, with the rise of high speed railway, this interaction become more apparent, and thus become more attention, which also promoted the dynamic interaction of vehicle and bridge theory’s development. Today, the vehicle-bridge coupling system dynamics theory is quite mature, theoretical analysis has been able to substitute to some extent experimental work. However, with the technological development, Mechanical and electronic technology is applied gradually in modern vehicles suspension system design. At present, the suspension system already from traditional passive suspension development to active suspension stage, suspension is the key components of vehicle, for vehicle-bridge coupling system, vehicle dynamic performance directly related to bridge's dynamic behavior, so, how to assess the active suspension technology for dynamic behavior of vehicle-bridge coupling systems is a new problem, that is the problem of vehicle-bridge coupling dynamics and control. The purpose of this research work is how to solve this problem, mainly as follows:
1. Based on the vehicle-bridge coupling system dynamics theory, using MATLAB/Simulink and ANSYS, vehicle-bridge coupling system dynamics simulation platform with object-oriented features SimVB was constructed.
2. Digital simulation model of vehicle active suspension control system was built with MATLAB / Simulink. As SimVB simulation platform object-oriented features, it can easily be integrated with the SimVB simulation platform, and achieve the simulation of vehicle-bridge coupling system dynamics and control.
3. H∞robust controller for active suspension was designed using linear matrix inequality approach. Using the SimVB with active suspension control system, take the Lateral active suspension vehicle and the 64m steel deck truss bridge dynamic interaction problems as an example, the simulation of active (passive) vehicle and bridge dynamic interaction was done and at same time the simulation to evaluate the effect of the three factors closely related with the active suspension control level and robust performance such as actuator weights, sensor noise and vehicle model perturbation for the active lateral suspention vehicle - bridge coupling system dynamic performance was done too.
1、基于车辆-桥梁耦合系统动力学理论,以MATLAB/Simulink及ANSYS作为仿真工具完成了车辆-桥梁耦合系统动力学仿真分析的二次模型化工作,构建了车辆-桥梁耦合系统动力学仿真平台——SimVB。
2、以MATLAB/Simulink作为仿真工具,建立了车辆主动悬挂数字化测控系统仿真模型,由于SimVB仿真平台的面向对象特性所以可方便的将其与SimVB仿真平台进行集成,从而实现车辆-桥梁耦合系统动力学与控制一体化仿真。
3、运用线性矩阵不等式(LMI)求解方法设计了车辆横向主动悬挂H∞鲁棒控制器,利用集成了主动悬挂测控系统的SimVB仿真平台,以横向主动悬挂车辆与下承式64m钢桁桥动力相互作用问题为例,进行了车辆-桥梁耦合系统动力学与控制一体化仿真分析,对主、被动悬挂车辆与桥梁动力相互作用特征进行了比较,同时对与主动悬挂控制水平及鲁棒性能密切相关的作动器控制力权重、传感器反馈信号噪声、车辆模型参数误差等三种因素对横向主动悬挂车辆与桥梁动力相互作用行为影响进行了仿真分析。
Vehicle running on the bridge, the dynamic interaction occurs between the vehicle and bridge, with the rise of high speed railway, this interaction become more apparent, and thus become more attention, which also promoted the dynamic interaction of vehicle and bridge theory’s development. Today, the vehicle-bridge coupling system dynamics theory is quite mature, theoretical analysis has been able to substitute to some extent experimental work. However, with the technological development, Mechanical and electronic technology is applied gradually in modern vehicles suspension system design. At present, the suspension system already from traditional passive suspension development to active suspension stage, suspension is the key components of vehicle, for vehicle-bridge coupling system, vehicle dynamic performance directly related to bridge's dynamic behavior, so, how to assess the active suspension technology for dynamic behavior of vehicle-bridge coupling systems is a new problem, that is the problem of vehicle-bridge coupling dynamics and control. The purpose of this research work is how to solve this problem, mainly as follows:
1. Based on the vehicle-bridge coupling system dynamics theory, using MATLAB/Simulink and ANSYS, vehicle-bridge coupling system dynamics simulation platform with object-oriented features SimVB was constructed.
2. Digital simulation model of vehicle active suspension control system was built with MATLAB / Simulink. As SimVB simulation platform object-oriented features, it can easily be integrated with the SimVB simulation platform, and achieve the simulation of vehicle-bridge coupling system dynamics and control.
3. H∞robust controller for active suspension was designed using linear matrix inequality approach. Using the SimVB with active suspension control system, take the Lateral active suspension vehicle and the 64m steel deck truss bridge dynamic interaction problems as an example, the simulation of active (passive) vehicle and bridge dynamic interaction was done and at same time the simulation to evaluate the effect of the three factors closely related with the active suspension control level and robust performance such as actuator weights, sensor noise and vehicle model perturbation for the active lateral suspention vehicle - bridge coupling system dynamic performance was done too.
引文
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