考虑时滞补偿的高速列车横向模糊半主动悬挂系统建模与仿真  

Modeling and simulation of lateral fuzzy control semi-active suspension system for high-speed trains considering time delay compensation

作　　者：张祥光 周岩 蒋超 程俊 姚远[1] ZHANG Xiangguang;ZHOU Yan;JIANG Chao;CHENG Jun;YAO Yuan(State Key Laboratory of Traction Power,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]西南交通大学牵引动力国家重点实验室,四川成都610031

出　　处：《铁道科学与工程学报》2023年第4期1189-1199,共11页Journal of Railway Science and Engineering

基　　金：国家自然科学基金资助项目(51735012);国铁集团科研开发计划课题(N2020J026,N2021J028);牵引动力国家重点实验室自主研究课题(2022TPL-T02)。

摘　　要：为研究基于磁流变阻尼器的高速列车半主动悬挂横向控制策略及其时滞问题和时滞补偿方法,建立包含50个自由度的CRH3型动车组拖车动力学模型,同时,针对Lord公司RD-8040-1型磁流变阻尼器进行特性测试并建立其BP神经网络力学模型和阻尼器电流响应迟滞模型,依据模糊控制律设计了基于车体横移、摇头2个状态的速度及加速度为反馈变量的模糊控制器,并将其用于预测阻尼器实时控制电流,运用Smith预估补偿控制结合PID控制对磁流变阻尼器电流响应迟滞进行补偿;采用SIMPACK和SIMULINK 2款仿真软件搭建联合仿真平台分析应用了本文所设计半主动悬挂系统的车辆动力学性能。仿真结果表明,时滞一定程度地恶化了控制效果,使控制效果不稳定,但采用时滞补偿后阻尼器跟踪期望电流能力则显著提升;相较于被动悬挂,应用了包含时滞补偿的磁流变阻尼器模糊半主动悬挂系统可有效降低车体横向振动,改善车辆运行平稳性,在运行速度为250 km/h工况时,车体横向加速度幅值谱最大幅值由0.07986 m/s^(2)下降到0.04956 m/s^(2),改善幅度达到37.9%,在100~350 km/h的运行速度区间内,车辆的横向平稳性指标改善2.1%~12.9%。In order to study the semi-active suspension control strategies of high-speed trains based on magnetorheological dampers,its time delay problem and delay compensation methods,this paper established a tractor dynamics model of CRH3 trains with 50 freedom degrees.The characteristics of the RD-8040-1 MRD from Lord were tested and its BP neural network model and damper output delay model were developed.A fuzzy controller based on the feedback of the speed and acceleration states of lateral and yaw of car body was designed and used to predict the damper control current.The Smith-PID control was applied to compensate for the damper output delay;SIMPACK and SIMULINK were used to build a co-simulation platform to analyze the vehicle dynamics performance with the semi-active suspension system.The results show that the time delay worsens the control effect to some extent and makes the control effect unstable,but the ability of the damper to track the desired current is significantly improved with using time delay compensation;compared with the passive suspension,the fuzzy control semi-active suspension system with time delay compensation based on MRD can effectively reduce the lateral vibration of the car body and improve the riding comfort of the trains.At a speed of 250 km/h,the maximum value of car body lateral acceleration spectrum decreases from 0.07986 m/s^(2) to 0.04956 m/s^(2),with an improvement of 37.9%.In the speed range of 100~350 km/h,the car body riding comfort index is improved by 2.1%~12.9%.

关 键 词：高速列车 磁流变阻尼器 模糊控制 半主动控制 时滞补偿。 

分 类 号：U266[机械工程—车辆工程]