基于迭代学习策略的高速机车二系横向主动控制  

LATERAL ACTIVE CONTROL FOR SECONDARY SUSPENSION OF HIGH-SPEED LOCOMOTIVE BASED ON ITERATIVE LEARNING METHOD

作　　者：任铖铭 姚远[1] 钟晓波 李广 Ren Chengming;Yao Yuan;Zhong Xiaobo;Li Guang(State Key Laboratory of Traction Power Southwest Jiaotong University,Chengdu 610031,China;CRRC Zhuzhou Electric Locomotive Co.,Bogie R&D Department,Ltd.,Zhuzhou 412001,China)

机构地区：[1]西南交通大学牵引动力国家重点实验室,成都610031 [2]中车株洲电力机车有限公司转向架研发部,株洲412001

出　　处：《动力学与控制学报》2022年第5期41-48,共8页Journal of Dynamics and Control

基　　金：国家科技支撑计划子课题资助项目(2018YFB1201703);国铁集团科研开发计划课题资助项目(N2020J026,N2021J028)。

摘　　要：为实现机车横向平稳性控制,针对机车在固定线路区间往复开行的特点,利用迭代学习策略实现二系悬挂主动控制.以某型高速机车为研究对象,选用一种PD型闭环迭代学习控制器,并通过多目标优化方法编程实现不同轮轨接触状态下车体横向平稳性主动控制参数的自适应调整.基于虚拟激励法,计算该机车线性模型在二系横向悬挂主动控制下的频域平稳性指标,相对于时域仿真计算该方法的计算速度具有明显优势.结果表明:迭代控制参数经5次迭代优化后,车体横向平稳性可快速收敛到稳定值;相较于控制参数固定时,自适应方法能够自动适应机车轮轨接触状态和线路状态且横向性能得到明显改善.此外,考虑到控制系统时滞,该方法在一定时滞范围内仍具有良好控制效果,研究还指出系统时滞应控制在100 ms以内,以防止机车横向动力学性能恶化.In order to realize lateral riding control,active control parameters of secondary suspension were optimized by utilizing characteristics of locomotive running in the same line interval of iterative learning method.A PD type closed-loop iterative learning controller is selected for a high-speed locomotive to realize adaptive adjustment of active control parameters of vehicle body lateral stability under different wheel-rail contact conditions,through Multi-objective optimization programming method.Based on pseudo-excitation method,the frequency domain riding index of the locomotive linear model with secondary lateral suspension active control is calculated.Compared with time domain simulation calculation,this method has advantages in computing speed.The results show that the carbody lateral riding index converges quickly after fifth iterations with optimized control parameters.The method can automatically adapt to the locomotive wheel-rail contact state and line state,and its lateral performance is improved significantly than the ILC method with fixed control parameters.In addition,the method still has good control effect in a certain time delay range when considering time delay of the control system.Finally,the paper pointed out that the system time delay should be controlled within 100 ms to prevent rapid deterioration of the train’s lateral dynamic performance.

关 键 词：高速机车 频域平稳性 主动控制 迭代学习 时滞 

分 类 号：U260.111[机械工程—车辆工程]