地铁车辆阀控式液压减振器半主动控制方法

doi:10.3901/JME.260502

摘要/Abstract

摘要： 针对地铁线路平顺性差及轮轨磨耗严重引发的车辆横向振动剧烈问题，提出基于阀控式半主动液压减振器的横向振动控制优化方法，以提升车辆运行平稳性与线路适应性。建立120 km/h地铁车辆-半主动减振系统机电耦合动力学与控制模型，利用天棚阻尼控制等5种策略，结合减振器力-速-电流特性实测数据，系统研究轮轨匹配状态、响应时滞与控制参数间的交互影响机制。仿真结果表明：天棚连续阻尼、加速度阻尼混合控制策略的振动抑制效果优于另外3种天棚阻尼策略；当减振器反比例阀的驱动电流较小时，减振器输出力较大，最大可达到10 kN，致使车体平稳性指标、舒适度指标、横向加速度等也较大，即振动改善效果变差；当反比例阀的驱动电流大于14 mA时，减振器输出力大小适中，为5 kN左右，此时车体横向平稳性和加速度等指标明显降低，建议驱动电流为14～16 mA；当运行速度越高和轮轨磨耗越严重时，半主动减振器对车体振动的改善效果越显著；不同控制策略对半主动减振器响应时滞的敏感性存在差异，即允许的临界时滞量不同，车轮磨耗状态较新轮状态允许的临界时滞更小。上述结论为阀控式减振器工程实际应用中面临的控制策略选取、时滞量影响和振动控制效能问题等提供了理论研究参考。

关键词: 地铁车辆, 动力学性能, 阀控式液压减振器, 运行平稳性, 主动悬挂控制

Abstract: To address severe lateral vibration issues caused by track irregularity of metro railway and excessive wheel-rail wear, this study proposes a valve-controlled semi-active hydraulic damper-based optimization method for lateral vibration control to enhance vehicle ride comfort and track adaptability. A mechatronic coupled dynamics and control model was developed for a 120 km/h subway vehicle equipped with a semi-active damping system, incorporating five control strategies including skyhook damping control. Through integration with experimentally measured damper force-velocity-current characteristics, the study systematically investigated the interaction mechanisms among wheel-rail matching conditions, response delay, and control parameters. Simulation results indicate that the hybrid control strategy combining continuous skyhook damping with acceleration damping achieves superior vibration suppression compared to three alternative skyhook damping strategies. When the damper’s proportional valve operates with driving current, the output force increases substantially (up to 10 kN), resulting in increased Sperling index, ride comfort index, and lateral acceleration, consequently diminishing vibration mitigation effectiveness. In contrast, when the driving current exceeds 14 mA, the damper force stabilizes at approximately 5 kN, achieving significant improvements in both lateral ride comfort and vibration reduction. Thus, an optimal driving current of 14-16 mA is recommended. Furthermore, the effectiveness of semi-active dampers in mitigating vehicle vibration becomes more pronounced at higher speeds and under severe wheel-rail wear conditions. Different control strategies exhibit distinct sensitivity characteristics to response delays in semi-active dampers, leading to strategy-dependent critical delay thresholds. Notably, worn wheel conditions exhibit reduced tolerance to time delay compared to new wheel conditions. These conclusions provide111 theoretical guidance for addressing practical engineering challenges in valve-controlled hydraulic damper applications, specially concerning optimal control strategy selection, time delay impact assessment, and vibration control efficacy.

Key words: metro vehicles, vehicle dynamics, valve-driven hydraulic damper, ride comfort, active suspension control

中图分类号:

U211

郭金莹, 石怀龙, 张耀洵, 张海柱. 地铁车辆阀控式液压减振器半主动控制方法[J]. 机械工程学报, 2026, 62(10): 338-347.

GUO Jinying, SHI Huailong, ZHANG Yaoxun, ZHANG Haizhu. Semi-active Control Method for Valve-controlled Hydraulic Dampers in Metro Vehicles[J]. Journal of Mechanical Engineering, 2026, 62(10): 338-347.

导出引用管理器 EndNote|Reference Manager|ProCite|BibTeX|RefWorks

链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260502

http://www.cjmenet.com.cn/CN/Y2026/V62/I10/338

参考文献

[1] 中国城市轨道交通协会. 城市轨道交通2024年度统计和分析报告[R]. 北京：中国城市轨道交通协会，2025. China Association of Metros. Urban rail transit annual statistics and analysis report 2024[R]. Beijing：China Association of Metros，2025.
[2] 罗仁，石怀龙. 高速列车系统动力学[M]. 成都：西南交通大学出版社，2019. LUO Ren，SHI Huailong. High-speed train system dynamics[M]. Chengdu：Southwest Jiaotong University Press，2019.
[3] 金学松，赵国堂，梁树林，等. 高速铁路轮轨磨损特征、机理、影响和对策——车轮踏面横向磨耗[J]. 机械工程学报，2018，54(4)：3-13. JIN Xuesong，ZHAO Guotang，LIANG Shulin，et al. Characteristics，mechanisms，influences and counter measures of high-speed wheel/rail wear：Transverse wear of wheel tread[J]. Journal of Mechanical Engineering，2018，54(4)：3-13.
[4] 朱海燕，袁遥，肖乾，等. 钢轨波磨研究进展[J]. 交通运输工程学报，2021，21(3)：110-133. ZHU Haiyan，YUAN Yao，XIAO Qian，et al. Research progress on rail corrugation[J]. Journal of Traffic and Transportation Engineering，2021，21(3)：110-133.
[5] BRUNI S，GOODALL R，MEI T X，et al. Control and monitoring for railway vehicle dynamics[J]. Vehicle System Dynamics，2007，45(7)：743-779.
[6] 王淳骁，池茂儒，代亮成，等. 高速动车组二系垂向减振器半主动控制技术研究[J]. 机械工程学报，2024，60(24)：265-273. WANG Chunxiao，CHI Maoru，DAI Liangcheng，et al. Research on semi-active control technology of vertical damper for high speed train[J]. Journal of Mechanical Engineering，2024，60(24)：265-273.
[7] 文永蓬，孙倩，周伟浩，等. 轨道车辆车体磁流变弹性体吸振器的建模与仿真[J]. 机械工程学报，2018，54(22)：114-127. WEN Yongpeng，SUN Qian，ZHOU Weihao，et al. Modeling and simulation of magnetorheological elastomer dynamic vibration absorber for railway vehicle carbody[J]. Journal of Mechanical Engineering，2018，54(22)：114-127.
[8] KARNOPP D，CROSBY M J，HARWOOD R A. Vibration control using semi-active force generators[J]. Journal of Engineering for Industry，1974，96(2)：619-626.
[9] ORVNÄS A，STICHEL S，PERSSON R. Aspects of using active vertical secondary suspension to improve ride comfort[J]. Neuro Endocrinology Letters，2011，32(6)：35-45.
[10] NAGARKAR M，BHALERAO Y，PATIL G V，et al. Multi-objective optimization of nonlinear quarter car suspension system-PID and LQR control[J]. Procedia Manufacturing，2018，20：420-427.
[11] LEBLEBICI A S，TÜRKAY S. An H∞ and skyhook controller design for a high speed railway vehicle[J]. IFAC-Papers on Line，2018，51(9)：156-161.
[12] 冯丕极，张伟海，曾靖淞，等. 超导电动磁悬浮列车模糊-改进型天棚阻尼横向半主动控制策略研究[J]. 铁道学报，2023，45(5)：47-56. FENG Piji，ZHANG Weihai，ZENG Jingsong，et al. Study on fuzzy improved skyhook control for suspension systems of superconducting electrodynamic suspension train[J]. Journal of the China Railway Society，2023，45(5)：47-56.
[13] HEMANTH K，GURUBASAVARAJU M，SHAMANTH V，et al. Improvement of ride comfort and stability of high-speed rail vehicles with semi-active suspension system[J]. International Journal of Dynamics and Control，2025，13：279.
[14] SEZER S，ATALAY A E. Application of fuzzy logic based control algorithms on a railway vehicle considering random track irregularities[J]. Journal of Vibration and Control，2012，18(8)：1177-1198.
[15] DO A L，SENAME O，DUGARD L，et al. An extension of mixed sky-hook and ADD to magneto-rheological dampers[J]. IFAC Proceedings Volumes，2010，43(21)：25-31.
[16] SAVARESI S M，SPELTA C. Mixed sky-hook and ADD：Approaching the filtering limits of a semi-active suspension[J]. Journal of Dynamic Systems Measurement and Control-transactions of the Asme，2007，129：382-392.
[17] SAVARESI S M，SPELTA C. A single-sensor control strategy for semi-active suspensions[J]. IEEE Transactions on Control Systems Technology，2009，17(1)：143-152.
[18] TAHARA M，WATANABE K，ENDO T，et al. Practical use of an active suspension system for railway vehicles[C]// 3rd International Symposium on Speed-up and Service Technology for Railway and Maglev Systems，STECH’03，August 19-22，2003，Tokyo，Japan.
[19] GIOSSI R L，SHIPSHA A，PERSSON R，et al. Active modal control of an innovative two-axle vehicle with composite frame running gear[C]// Proceedings of the 27th Symposium of the International Association of Vehicle System Dynamics，IAVSD 2021，August 17-19，2021，Saint Petersburg，Russia.
[20] QAZIZADEH A，PERSSON R，STICHEL S. On-track tests of active vertical suspension on a passenger train[J]. Vehicle System Dynamics，2015，53(6)：798-811.
[21] KIM H C，SHIN Y J，YOU W，et al. A ride quality evaluation of a semi-active railway vehicle suspension system with MR damper：Railway field tests[J]. Proceedings of the Institution of Mechanical Engineers，Part F：Journal of Rail and Rapid Transit，2017，231(3)：306-316.
[22] 何静，黄健涛，贾林. 基于观测器的高速列车半主动悬架滑模容错控制[J]. 测控技术，2024，43(10)：49-57. HE Jing，HUANG Jiantao，JIA Lin. Fault-tolerant control of sliding mode of semi-active suspension of high-speed train based on observer[J]. Measurement & Control Technology，2024，43(10)：49-57.
[23] 丁问司，卜继玲，刘友梅. 我国高速列车横向半主动悬挂系统控制策略及控制方式[J]. 中国铁道科学，2002(4)：3-9. DING Wensi，BU Jiling，LIU Youmei. Strategy and method of high-speed train suspension’s lateral semi-active control in China[J]. China Railway Science，2002(4)：3-9.
[24] 邓辰鑫，周劲松，夏张辉，等. 高速列车低频晃车在线检测及控制[J]. 同济大学学报(自然科学版)，2020，48(3)：441-446. DENG Chenxin，ZHOU Jinsong，XIA Zhanghui，et al. Online detection and control of high-speed train’s low-frequency swaying[J]. Journal of Tongji University (Natural Science)，2020，48(3)：441-446.
[25] GUO J，XU Z，SUN Y. A new semi-active safety control strategy for high-speed railway vehicles[J]. Vehicle System Dynamics，2015，53(12)：1918-1934.
[26] 刘永强，杨绍普，廖英英. 高速动车组悬挂系统横向半主动控制仿真分析[J]. 振动与冲击，2010，29(9)：51-54，96，241. LIU Yongqiang，YANG Shaopu，LIAO Yingying. Simulation analysis of lateral semi-active control for high-speed EMU suspension systems[J]. Journal of Vibration and Shock，2010，29(9)：51-54，96，241.
[27] 王鹏，杨绍普，刘永强，等. 高速列车磁流变半主动悬挂控制策略研究[J]. 力学学报，2023，55(4)：1004-1018. WANG Peng，YANG Shaopu，LIU Yongqiang，et al. Research on control strategy of magnetorheological semi-active suspension for high-speed train[J]. Chinese Journal of Theoretical and Applied Mechanics，2023，55(4)：1004-1018.
[28] 石怀龙，曾京. 基于二系横向主动悬挂的高速列车晃车控制[J]. 机械工程学报，2024，60(22)：340-350. SHI Huailong，ZENG Jing. Control of high-speed train swaying based on secondary lateral active suspension[J]. Journal of Mechanical Engineering，2024，60(22)：340-350.
[29] 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. Active control method and adaptability of low-frequency sway of high-speed vehicle[J]. Journal of Mechanical Engineering，2025，61(12)：226-240.
[30] 石怀龙，干锋，曾京，等. 高速动车组阀控式半主动横向减振系统与试验[J]. 交通运输工程学报，2025，25(3)：231-241. SHI Huailong，GAN Feng，ZENG Jing，et al. Valve-controlled semi-active lateral vibration reduction system for high-speed EMUs and tests[J]. Journal of Traffic and Transportation Engineering，2025，25(3)：231-241.
[31] 曹洪勇，王旭，冯永华，等. 高速动车组半主动横向减振系统研制[J]. 铁道车辆，2023，61(2)：26-29. CAO Hongyong，WANG Xu，FENG Yonghua，et al. Development of a semi-active lateral damping system for high-speed EMUs[J]. Rolling Stock，2023，61(2)：26-29.
[32] HUANG D S，ZHANG J Q，LIU Y L. The PID semi-active vibration control on nonlinear suspension system with time delay[J]. International Journal of Intelligent Transportation Systems Research，2017，16(7)：1-13.
[33] GAO Z Y，TIAN B，WU D P，et al. Study on semi-active control of running stability in the high-speed train under unsteady aerodynamic loads and track excitation[J]. Vehicle System Dynamics，2021，59(1)：101-114.
[34] WANG Q S，ZENG J，WU Y，et al. Study on semi-active suspension applied on carbody underneath suspended system of high-speed railway vehicle[J]. Journal of Vibration and Control，2020，26(9)：671-679.