基于磁流变阻尼器的铁道车辆模糊半主动控制

李忠继; 戴焕云; 曾京

基于磁流变阻尼器的铁道车辆模糊半主动控制

李忠继^{1, 2,},
戴焕云²,
曾京²

1.
中国中铁二院工程集团有限责任公司科学技术研究院, 四川成都 610031
2.
西南交通大学牵引动力国家重点实验室, 四川成都 610031

基金项目:

国家973计划项目 2011CB711106

详细信息

作者简介:
李忠继(1983-), 男, 河北赤城人, 中国中铁二院工程集团有限责任公司工程师, 工学博士, 从事轨道与车辆系统结构和动力学研究

中图分类号: U270.11
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出版历程
- 收稿日期: 2014-05-20
- 刊出日期: 2014-10-25

Fuzzy semi-active control of railway vehicle with magnetorheological dampers

1.
Institute of Science and Technology, China Railway Eryuan Engineering Group Co., Ltd., Chengdu 610031, Sichuan, China
2.
State Key Laboratory of Traction Power, Southwest Jiaotong University, Chengdu 610031, Sichuan, China

More Information

Author Bio:
LI Zhong-ji(1983-), male, engineer, PhD, +86-28-86445021, lizhongji@live.com

摘要

摘要: 研究了基于磁流变阻尼器的铁道车辆半主动悬挂系统的控制方法, 建立了50自由度的车辆多体动力学模型和磁流变阻尼器的Spencer模型。运用模糊控制方法设计了基于车体加速度和速度反馈的模糊控制器, 利用电压控制函数和滞回特性分离法建立了磁流变阻尼器的逆模型, 用于预测控制电流。采用数值仿真方法研究了基于磁流变阻尼器的模糊半主动悬挂系统的特性, 分析了装用半主动悬挂系统车辆的动力学性能。仿真结果表明: 采用基于逆模型的模糊控制方法, 阻尼器实际阻尼力能有效跟踪控制系统的期望阻尼力。相对于被动悬挂, 基于磁流变阻尼器的模糊半主动悬挂系统能够有效地减小车体1~10Hz范围内的振动, 改善车辆的运行平稳性。当车辆运行速度为250km·h^-1时, 振动加速度减小53.3%。当车辆运行速度为100~300km·h^-1时, 车辆运行平稳性指标改善率为6%⁹%。
- 铁道车辆 /
- 动力学模型 /
- 半主动控制 /
- 模糊控制 /
- 磁流变阻尼器 /
- Spencer模型 /
- 逆模型
Abstract: The control methods of semi-active suspension system for railway vehicle with magnetorheological (MR) dampers were studied.The multi-body dynamics model with 50 freedom degrees of railway vehicle and the Spencer model of MR damper were set up.The fuzzy controller based on the feedback of velocity and acceleration was designed.The inverse model of MR damper predicting the control current was built by using the voltage control function and the separating method of hysteresis characteristic.With the simulation method, the characteristic of fuzzy semi-active suspension system with MR dampers was studied and the dynamics performance of vehicle with semi-active suspension system was analyzed.Simulation result shows that when the fuzzy control method based on the inverse model is used, the actual damping force can track accurately the desired value given by the controller.Compared with the passive suspension system, the fuzzy semi-active suspension with MR dampers can reduce vehicle vibration in the range of 1-10 Hz.When vehicle speed is 250 km·h^-1, vehicle vibration acceleration decreases by 53.3%.The riding comfort index increases by 6%-9% when the speed of vehicle ranges from 100 km·h^-1 to 300 km·h^-1.
- railway vehicle /
- dynamics model /
- semi-active control /
- fuzzy control /
- MR damper /
- Spencer model /
- inverse model

HTML全文

图 1 车辆系统模型

Figure 1. Vehicle system model

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图 2 磁流变阻尼器现象模型

Figure 2. Phenomenological model of MR damper

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图 3 速度-力特性

Figure 3. Velocity-force characteristics

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图 4 位移-力特性

Figure 4. Displacement-force characteristics

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图 5 速度-力特性对比

Figure 5. Comparison of velocity-force characteristics

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图 6 控制流程

Figure 6. Control flow

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图 7 仿真模型

Figure 7. Simulation model

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图 8 速度曲线

Figure 8. Velocity curve

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图 9 控制电压曲线

Figure 9. Control voltage curve

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图 10 阻尼力曲线

Figure 10. Damping force curves

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图 11 速度-阻尼力的散点

Figure 11. Velocity-damping force scatter points

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图 12 阻尼器动态响应对比

Figure 12. Comparison of MR damper dynamic responses

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图 13 车体横向加速度

Figure 13. Carbody lateral accelerations

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图 14 车体横向加速度功率谱密度

Figure 14. Carbody lateral acceleration FFTs

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图 15 车体运行平稳性

Figure 15. Riding performances of carbody

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表 1 磁流变阻尼器模型参数

Table 1. Parameters of MR damper model

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表 2 模糊控制规则

Table 2. Fuzzy control rules

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参考文献(18)

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