高速车辆低频晃动的主动控制方法及适应性研究

doi:10.3901/JME.2025.12.226

摘要/Abstract

摘要： 针对高速动车组在轮轨低锥度条件下发生的横向低频晃动问题，开展二系横向主动悬挂控制方法及其适应性研究，以改善车辆的运行平稳性和线路适应性。建立高速车辆主动悬挂系统动力学与控制模型，仿真说明车辆低频横向晃动特征；依据天棚阻尼和模态控制原理，设计二系横向减振器的多种半主动和全主动控制策略；提出车体横向振动模态阻尼控制方法、基于相对速度的天棚速差阻尼控制方法，并对比与PID、传统天棚阻尼和加速度阻尼控制方法等的差异；讨论车辆运行平稳性、蛇行稳定性和运行安全性的控制效果，研究主动控制所允许的临界时滞，以及车速和轨道不平顺幅值对临界时滞的影响规律。仿真结果表明，模态阻尼和天棚速差等控制效果均较好，不仅能抑制车辆的低频晃动，还能够明显抑制车辆正常运行时的1～2 Hz低频振动，并且对车速的适应性良好；车辆正常运行和晃车工况下，主动控制使横向平稳性指标最大分别降低29.4%和47.5%；随着车速的提高，主动控制所允许的临界时滞会线性减小，不同控制策略对时滞的敏感性差异显著；轨道谱幅值越大，允许的临界时滞越小。

关键词: 高速列车, 低频晃车, 车辆动力学, 主动悬挂, 时滞, 联合仿真

Abstract: Aiming at the lateral low-frequency sway issue of high-speed EMUs under the condition of low equivalent conicity, the active lateral secondary suspension control methods and its adaptability are studied to improve the ride quality and track adaptability of the vehicle. The paper establishes a dynamic and control model of the active suspension system of a high-speed vehicle, and simulates the low-frequency lateral sway characteristics of the vehicle. According to the principle of sky-hook damping and modal control, various semi-active and fully-active control strategies are designed. The car body lateral vibration modal damping control is proposed as well as the sky-hook velocity-difference damping control method based on relative vibrating velocity difference between car body and bogie frame, then their differences with respect to the PID, traditional sky-hook damping and acceleration damping control methods are compared. The control effects on ride quality, hunting motion stability and running safety are discussed. The critical time delay allowed by active control is analyzed as well as the influence of vehicle speed and track irregularity amplitude. The simulation results show that the control effects of modal damping and sky-hook velocity-difference are good. They can not only suppress the low-frequency vibration of the vehicle, but also significantly suppress the low-frequency vibration of 1-2 Hz during normal operation of the vehicle, and have good adaptability to vehicle speed. Under the normal running and low-frequency sway conditions of the vehicle, the active control reduces the lateral ride quality index by 29.4% and 47.5%, respectively. As the speed increases, the critical time delay allowed by active control decreases linearly, and the sensitivity of different control strategies to the time delay is significantly different, the larger the track irregularity amplitude is, the smaller the critical time delay allow.

Key words: high-speed train, low-frequency sway, vehicle dynamics, active suspension, time delay, co-simulation

中图分类号:

U270

刘志强, 石怀龙, 刘沿修. 高速车辆低频晃动的主动控制方法及适应性研究[J]. 机械工程学报, 2025, 61(12): 226-240.

LIU Zhiqiang, SHI Huailong, LIU Yanxiu. Research on Active Control Method and Adaptability of Low-frequency Sway of High-speed Vehicle[J]. Journal of Mechanical Engineering, 2025, 61(12): 226-240.

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