基于最优控制理论的高速列车车下悬吊系统半主动悬挂

doi:10.3901/JME.2020.04.160

机械工程学报 ›› 2020, Vol. 56 ›› Issue (4): 160-167.doi: 10.3901/JME.2020.04.160

基于最优控制理论的高速列车车下悬吊系统半主动悬挂

汪群生, 曾京, 朱彬, 吴一, 王勇

西南交通大学牵引动力国家重点实验室成都 610031

收稿日期:2019-03-16 修回日期:2019-08-16 出版日期:2020-02-20 发布日期:2020-04-23
通讯作者: 王勇(通信作者),男,1972年出生,博士,副研究员。主要研究方向为车辆系统动力学。E-mail:wangyong_05@aliyun.com
作者简介:汪群生,男,1990年出生,博士,助理研究员。主要研究方向为车辆系统动力学。E-mail:wangqunsheng@126.com;曾京,男,1964年出生,博士,教授,博士研究生导师。主要研究方向为车辆系统动力学。E-mail:zeng@swjtu.edu.cn;朱彬,男,1991年出生,博士研究生。主要研究方向为车辆系统动力学。E-mail:1003733674@qq.com;吴一,男,1991年出生,博士研究生。主要研究方向为车辆系统动力学。E-mail:791489545@qq.com
基金资助:
国家重点研发计划（2016YFB1200501）、牵引动力国家重点实验室自主课题（2019TPL-T18）和中央高校基本科研业务费专项资金（2682019CX46）资助项目。

Semi-active Suspension Applied on Carbody underneath Suspended System of High-speed Railway Based on Optimal Control Theory

WANG Qunsheng, ZENG Jing, ZHU Bin, WU Yi, WANG Yong

State Key Laboratory of Traction Power, Southwest Jiaotong University, Chengdu 610031

Received:2019-03-16 Revised:2019-08-16 Online:2020-02-20 Published:2020-04-23

摘要/Abstract

摘要： 针对高速列车服役环境的复杂性，造成车体振动幅值增大和旅客乘坐舒适性降低等问题。基于LQR算法的最优控制理论，提出车下悬吊系统安装半主动悬挂的思路，并建立考虑车体弹性和车下悬吊设备的高速列车垂向耦合振动模型，分析LQR算法的加权系数R对车体减振的影响规律，并对比分析被动悬挂和半主动悬挂的车体振动控制效果。研究结果表明，以降低车体弹性振动为控制目标，减小加权系数R有利于降低车体的弹性振动，而且当加权系数减小至1×10^-5时，车体弹性振动会出现明显的降低，但是不会对车体的刚性振动产生影响；半主动悬挂对车体振动控制的效果与车体弹性振动能量密切相关，车体弹性振动能量越大，半主动悬挂的控制效果越好；当车体出现弹性振动时，半主动悬挂的车体减振效果明显优于被动悬挂，在车体弹性振动最明显的速度级下，半主动悬挂下的车体振动RMS值降低了约一半。通过半主动悬挂对车体减振效果的研究，为工程化应用提供了理论支撑。

关键词: 高速列车, 车下悬吊系统, 半主动控制, LQR算法, 车体减振

Abstract: Due to the complexity of the service environment of high-speed trains, the carbody vibration amplitude increases and the passenger ride comfort decreases. Based on the optimal control theory of LQR algorithm, the idea of installing semi-active suspension on carbody underneath suspended system is proposed. Considering carbody flexible and suspended equipment, a coupled vertical vibration model of high-speed railway train is established, which is used to analyze the effect of the weighted coefficient R of the LQR algorithm on carbody vibration reduction, and also compared the effects of the passive suspension and the semi-active suspension. The results show that reducing the weighting coefficient R is beneficial to reducing carbody elastic vibration, and when the weighting coefficient is reduced to 1×10^-5, the elastic vibration would be significantly reduced. However, it does not affect the rigid vibration. The effect of the semi-active suspension on the vibration control of the vehicle body is closely related to the elastic vibration energy of the vehicle body. The greater the elastic vibration energy of the vehicle body, the better the control effect of the semi-active suspension is. When the body is elastically vibrated, the vibration reduction effect of the semi-active suspension body is significantly better than that of the passive suspension. Under the running speed of obvious carbody elastic vibration, the RMS value of the body vibration under the semi-active suspension is reduced by about half.

Key words: high-speed railway train, carbody underneath suspended system, semi-active control, LQR algorithm, carbody vibration reduction

中图分类号:

U270

汪群生, 曾京, 朱彬, 吴一, 王勇. 基于最优控制理论的高速列车车下悬吊系统半主动悬挂[J]. 机械工程学报, 2020, 56(4): 160-167.

WANG Qunsheng, ZENG Jing, ZHU Bin, WU Yi, WANG Yong. Semi-active Suspension Applied on Carbody underneath Suspended System of High-speed Railway Based on Optimal Control Theory[J]. Journal of Mechanical Engineering, 2020, 56(4): 160-167.

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基于最优控制理论的高速列车车下悬吊系统半主动悬挂

Semi-active Suspension Applied on Carbody underneath Suspended System of High-speed Railway Based on Optimal Control Theory

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