Summary of dynamics research on traction power transmission system of rail transits
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摘要: 为了提升轨道车辆牵引动力传动系统的动态服役性能，保障服役可靠性与安全性，分析了牵引动力传动系统的动力学研究现状与发展趋势，研究了齿轮动力学、滚动轴承动力学和机电耦合效应的分析理论与研究方法，探讨了其未来的研究重点和发展方向。研究结果表明：在牵引动力传动系统动力学研究中，主要采用集总参数法进行耦合动力学建模，重点考虑齿轮时变啮合刚度和轮轨激扰等动态激励，分析齿轮传动与车辆系统的耦合振动特性；在轨道机车车辆滚动轴承动力学研究中，主要分析了轴箱轴承、电机轴承、电机抱轴承、齿轮箱轴承4种不同滚动轴承的动态特性；正在逐步深入开展基于转子动力学和机电耦合效应的机车牵引电机控制策略、谐波转矩抑制、故障激励机理及特征的研究；牵引电机、齿轮传动、轴承等关键部件的研究相对独立，未充分考虑彼此间的动态耦合关系，尚未揭示动力学相互作用机制；在前期研究基础上，今后重点关注的主要研究方向是进一步考虑整车服役环境影响，深入研究牵引动力传动系统关键零部件的动态特性、载荷识别、疲劳寿命、故障机理、故障诊断、性能演变规律与状态监测，探索新型牵引动力传动系统动力学特性。Abstract: To promote the dynamic service performance of railway vehicle traction power transmission system and ensure the service reliability and safety, the current situation and development trend of dynamics research of traction power transmission system were analyzed, the analysis theory and research methods of gear dynamics, rolling bearing dynamics and electromechanical coupling effects were studied, and the future research focus and developing directions were discussed. Research results indicate that in the dynamics research of traction power transmission system, the lumped parameter method is mainly used for the coupling dynamics modeling, the dynamic excitations, such as gear time-varying meshing stiffness and wheel-rail excitation, are focused, and the coupling vibration characteristics between gear transmission and vehicle system are analyzed. In dynamics research of rolling bearing of railway vehicle, the dynamic characteristics of four rolling bearings, including axle box bearing, motor bearing, axle suspension bearing, and gearbox bearing, are analyzed. The research on locomotive traction motor's control strategy, harmonic torque suppression, and fault excitation mechanism and characteristics based on rotor dynamics and electromechanical coupling effect is gradually conducted. The studies of key components, such as traction motor, gear transmission, bearing, and other aspects are relatively independent, the dynamic coupling relationship among them has not been fully considered, and the dynamic interaction mechanism has not yet been revealed. Based on the previous research, the main research directions of the future are to further consider the impact of railway vehicle service environment, deeply study the dynamic characteristics, load identification, fatigue life, fault mechanism, fault diagnosis, performance evolution law and state monitoring of key parts of traction power transmission system, and explore the dynamic characteristics of new traction power transmission system. 4 tabs, 8 figs, 122 refs.
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表 1 部件供应商
Table 1. Component suppliers
部件/系统 供应商 复兴号 和谐号 车轮 智奇、BVV、太原重工、马鞍山钢铁 智奇、BVV、CAF、新日铁 轴 智奇、BVV、太原重工、CAF、晋西车轴 智奇、BVV、CAF 轴承 Timken、舍弗勒、明治、斯凯孚 Timken、舍弗勒、明治、斯凯孚 齿轮箱 戚墅堰、重庆凯瑞、采埃孚 福伊特、明治、采埃孚、戚墅堰 牵引电机 中车永济电机 中车永济电机 
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表 2 轨道交通牵引动力传动系统齿轮动力学研究总结
Table 2. Dynamics research summary on gears in traction power transmission system
研究主题 研究方法 研究模型 文献来源 内部应力分析 有限元法 齿轮刚柔耦合接触动力学模型 [18] 齿轮副有限元模型 [19] 耦合振动 集总参数法、解析法 考虑齿轮传动的机车-轨道耦合动力学模型 [17]、[24]~[30] 集总参数法、有限元法 考虑齿轮传动的高速列车多体动力学模型 [31]~[32] 考虑齿轮传动的刚柔耦合动力学模型 [33]~[34] 故障特征 集总参数法、解析法 考虑齿轮传动的机车空间动力学模型 [35]~[40] 集总参数法、有限元法 考虑齿轮传动的高速列车-轨道耦合动力学模型 [16]、[42] 有限元法 机车轴承-齿轮-轮对耦合系统动力学模型 [41] 弯扭特性 集总参数法 考虑齿轮-转子-电机轴承的机车动力学模型 [43] 机车齿轮传动弯扭耦合非线性动力学模型 [20] 混沌特性 集总参数法 齿轮扭转振动模型 [21] 机车齿轮传动系统动力学模型 [20]~[22] 高速列车齿轮传动系统动力学模型 [23] 寿命预测 有限元法 齿轮副有限元模型 [44] 集总参数法、有限元法 考虑齿轮传动的刚柔耦合高速列车动力学模型 [45]
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表 3 牵引动力传动系统滚动轴承动力学研究总结
Table 3. Dynamics research summary of rolling bearings in traction power transmission system
研究对象 研究主题 研究方法 研究模型 文献来源 轴箱轴承 轴承内部应力分析 有限元法 滚动轴承有限元模型 [47]~[51] 虚拟样机 滚动轴承虚拟模型 [55] 集总参数法、有限元法 车轮-轨道耦合动力学模型、滚动体-保持架有限元模型 [56] 耦合振动分析 集总参数法 车辆-轨道刚柔耦合动力学模型 [59] 车辆-轨道耦合动力学模型 [54], [60]~[63] 故障特征分析 集总参数法 车辆系统动力学模型 [64]~[67] 有限元法 滚动轴承有限元模型 [47]、[52] 温度场分析 有限元法 滚动轴承有限元模型 [18] 解析法 车辆-轨道耦合动力学模型 [61] 混沌特性分析 集总参数法 轴承-转子动力学模型 [57]~[58] 打滑特性 集总参数法 轴承打滑动力学模型 [53] 寿命预测 试验法 [63] 电机轴承 耦合振动分析 集总参数法 轴承-转子动力学模型 [68]~[70] 车辆系统动力学模型 [71]~[75] 温度场分析 集总参数法、有限元法 车辆系统动力学模型、滚动轴承有限元模型 [77] 动态响应特性 有限元法 滚动轴承有限元模型 [76] 寿命预测、可靠性分析 解析法 滚动轴承静力学分析模型 [71] 弯扭特性分析 集总参数法 齿轮-转子-轴承动力学模型 [70] 抱轴承 载荷分析 解析法 [78] 寿命预测 集总参数法 车辆系统动力学模型 [79]
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表 4 驱动系统电机研究总结
Table 4. Research summary on driving system motor
研究主题 研究分类 研究方法或模型 研究目的 文献来源 牵引电机动力学建模 转子动力学系统建模 转子、转子-轴承耦合模型 分析电机转子动力学响应、周期性响应、碰摩现象 [68]、[69]、[80]~[83] 考虑牵引传动系统的车辆-轨道耦合动力学模型 分析转子振动对车辆系统的影响；分析齿轮啮合作用和机车振动环境下的电机系统动力学响应 [73]、[84] 电机及机电耦合分析 电机分析 有限元方法 利用有限元分析、步进法对异步电机进行场分析，并进行暂态与瞬态的参数计算 [85]~[88] 机电耦合分析 机电转子模型、Jeffcott转子模型 研究机电相互作用所引起的转子动态响应，考虑非线性振动 [90]~[92] 机电系统分析动力学、变分法原理 研究高速电主轴系统的机电耦合动力学性能 [93] 机电耦合振动模型 探究高速列车驱动系统机电耦合振动特性及抑制方法 [94]~[98] 牵引电机控制方法 矢量控制 转子磁链定向控制 证明该方法运用在轨道交通车辆牵引控制系统中的可行性 [100]、[101] 定子磁链定向控制 实现低地板车辆对轮对的导向控制 [102] 直接转矩控制 极限环控制 奠定直接转矩控制方法的基础 [103] 直接转矩控制方法 讨论该方法对电机进行控制的可行性 [104]、[105] 圆形磁链和六边形磁链 对比分析两种方法的原理，证明六边形磁链控制的简易性 [107] 牵引电机与逆变器等效模型 研究高速列车牵引及制动的动力学特性 [108] 黏着优化控制 双轴模型 利用全维状态观测器来保证黏着利用最大化 [109] 并联电机控制 [110] 谐波转矩及电机故障分析 谐波分析 等效电路、虚位移原理 进行基波及谐波转矩计算 [111]~[113] 等效电路、虚位移原理+车辆轨道耦合模型 研究谐波转矩对车辆系统动力学性能的影响 [114]~[117] 转子偏心 有限元方法 建立由转子偏心引起的不平衡磁拉力计算模型 [120]、[121] 结合数值方法和谐波分析 [122]
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