Optimization on multi-stage suspension scheme and dynamics performance of superconducting EDS maglev train
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摘要: 研究了超导电动悬浮(EDS)磁浮列车悬浮架的悬挂方案，分析了超导EDS磁浮列车的工作原理和既有悬浮架的悬挂系统技术特征，提出了一种多级悬挂系统优化方案，从理论上推导了多级悬挂车辆的动力学微分方程；基于多体动力学软件SIMPACK与数学工具MATLAB/Simulink搭建了超导EDS磁浮列车动力学联合仿真框架，分析了超导EDS系统的磁力特性；将计算得到的电磁力组建成一个查找表，利用SIMPACK分别构建了既有悬挂方案和多级悬挂方案下3车体和4悬浮架的三编组超导EDS磁浮列车机械模型，借助MATLAB/Simulink建立了电磁力查找模型，通过SIMAT模块将查找表与机械动力学模型耦合，并通过联合仿真对比了在轨道随机不平顺条件下不同悬挂方案的超导EDS磁浮列车动力学响应。研究结果表明：与既有方案相比，采用多级悬挂方案时列车悬浮架和车体的振动响应明显减小，二者振动加速度峰值降幅均达到50%以上，车体振动加速度均小于1 m·s-2，车体各向平稳性指标基本保持在2.5以下的优秀水平，证明采用多级悬挂方案可以改善列车运行时的动力响应，提高车辆整体的乘坐舒适性。研究工作可为超导EDS磁浮列车的悬浮架方案优化设计和动力学研究提供理论依据和参考。Abstract: The suspension scheme of the superconducting electrodynamic suspension (EDS) maglev train levitation bogie was studied. The working principles of the superconducting EDS maglev train and the technical characteristics of the suspension system of existing levitation bogie were analyzed, and a multi-stage suspension system optimization scheme was proposed. The dynamics differential equation of the multi-stage suspension vehicle was theoretically derived. A co-simulation framework of superconducting EDS maglev train dynamics was established based on the multi-body dynamics software SIMPACK and the mathematical tool MATLAB/Simulink, and the magnetic properties of the superconducting EDS system were analyzed. The calculated electromagnetic forces were formed into a search table, and the mechanical models of three train bodies and four levitation bogies of the three-group superconducting EDS maglev train were constructed under the existing suspension scheme and multi-stage suspension scheme by SIMPACK. The electromagnetic force search model was established though MATLAB/Simulink. The search table was coupled with the mechanical dynamics model through the SIMAT module, and the dynamics responses of the superconducting EDS maglev trains under different suspension schemes in the condition of random track irregularity were compared though the co-simulation. Research results show that compared with the existing scheme, the vibration responses of the train levitation bogie and train body significantly reduce when the multi-stage suspension scheme is adopted, and the peak vibration acceleration amplitudes of both reduce by more than 50%. The vibration accelerations of the train bodies are both less than 1 m·s-2, and the stability indexes are basically maintained at an excellent level below 2.5. It is proved that the multi-stage suspension scheme can improve the dynamic response of the train and enhance the overall ride comfort of the vehicle. The research can provide a theoretical basis and reference for the optimization design of the levitation bogie scheme and dynamics research of the superconducting EDS maglev train. 1 tab, 11 figs, 31 refs.
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图 3 多级悬挂优化方案各结构受力
Figure 3. Forces of each structure of multi-stage suspension optimization scheme
图 6 MATLAB/Simulink与SIMPACK联合仿真框架
Figure 6. Co-simulation framework of MATLAB/Simulink and SIMPACK
图 8 不同方案下悬浮架振动加速度时域变化曲线
Figure 8. Time domain variation curves of vibration accelerations of levitation bogie under different schemes
图 9 不同方案下车体振动加速度时域变化曲线
Figure 9. Time domain variation curves of vibration accelerations of train body under different schemes
图 10 不同方案下超导磁体振动加速度时域变化曲线
Figure 10. Time domain variation curves of vibration accelerations of superconducting magnet under different schemes
图 11 不同方案下车辆平稳性指标随速度变化曲线
Figure 11. Curves of vehicle stability indexes changing with speed under different schemes
表 1 建模参数
Table 1. Modeling parameters
参数 数值 端车车体质量/kg 2.055×104 中间车车体质量/kg 1.37×104 悬浮架质量/kg 6.3×103 超导磁体质量/kg 2.8×103 悬浮架长度/m 5.4 悬浮点横向间距(轨距)/m 2.98 悬浮架质心纵向间距/m 21.6 车体质心纵向间距/m 25.875 超导线圈极距/m 1.35 二系空簧垂向刚度/(N·m-1) 1.96×105 二系空簧横向刚度/(N·m-1) 2.25×105 二系空簧垂向阻尼/(N·s·m-1) 2.45×103 二系空簧横向阻尼/(N·s·m-1) 1.47×104 一系橡胶弹簧纵向刚度/(N·m-1) 4.60×106 一系橡胶弹簧横向刚度/(N·m-1) 3.34×106 一系橡胶弹簧垂向刚度/(N·m-1) 2.33×106 一系橡胶弹簧阻尼/(N·m-1) 3.00×103 
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