阅读说明：本技术 一种基于垂向减振器控制车体异常抖动装置及控制方法 (Device and method for controlling abnormal shaking of vehicle body based on vertical shock absorber ) 是由 李凡松 吴昊 王勇 王帅 戴焕云 邬平波 于 2019-09-18 设计创作，主要内容包括：本发明涉及一种基于垂向减振器控制车体异常抖动装置及控制方法,包括：包括车体和车体前后端的转向架,以及,主动控制处理器；加速度传感系统,设置在车体上,该加速度传感系统与主动控制处理器电性连接；垂向减振系统,该垂向减振系统设置在转向架与车体之间,并与主动控制处理器电性连接。本发明通过抗蛇行减振系统和垂向减振系统可以消除车体异常抖动现象,增加旅客舒适感,同时降低铁路运维成本。(The invention relates to a device and a method for controlling abnormal shaking of a vehicle body based on a vertical shock absorber, wherein the device comprises the following steps: comprises a vehicle body, bogies at the front end and the rear end of the vehicle body, and an active control processor; the acceleration sensing system is arranged on the vehicle body and is electrically connected with the active control processor; and the vertical vibration reduction system is arranged between the bogie and the vehicle body and is electrically connected with the active control processor. The anti-snake vibration damping system and the vertical vibration damping system can eliminate the abnormal shaking phenomenon of the train body, increase the comfort of passengers and reduce the railway operation and maintenance cost.)

1. The utility model provides a control unusual shake device of automobile body based on vertical shock absorber which characterized in that: comprises a vehicle body (1) and bogies (2) at the front and rear ends of the vehicle body, and,

an active control processor (3);

the acceleration sensing system is arranged on the vehicle body (1) and is electrically connected with the active control processor (3);

and the vertical vibration reduction systems are respectively arranged between the front end and the rear end of the vehicle body (1) and the bogie (2) and are electrically connected with the active control processor (3).

2. The device for controlling abnormal shaking of the vehicle body based on the vertical shock absorber according to claim 1, wherein: the active control processor (3) comprises a data acquisition module, a data analysis module and a data threshold judgment module, wherein the data acquisition module is electrically connected with the acceleration sensing system and the vertical vibration reduction system respectively.

3. The device for controlling abnormal shaking of the vehicle body based on the vertical shock absorber according to claim 1, wherein: the acceleration sensing system comprises a first acceleration sensor (4), a second acceleration sensor (5) and a correction acceleration sensor (9), the first acceleration sensor (4) is arranged in the longitudinal middle of the left side beam of the vehicle body (1), the second acceleration sensor (5) is arranged in the longitudinal middle of the right side beam, the correction acceleration sensor (9) is arranged on the transverse end part of the sleeper beam at one end of the vehicle body (1), the first acceleration sensor (4), the second acceleration sensor (5) and the correction acceleration sensor (9) are respectively and electrically connected with the active control processor, the first acceleration sensor (4), the second acceleration sensor (5) and the correction acceleration sensor (9) are used for testing the vertical acceleration and the transverse acceleration of the longitudinal middle part of the left side beam, the longitudinal middle part of the right side beam and the transverse end part of the sleeper beam of the vehicle body (1) respectively.

4. The device for controlling abnormal shaking of the vehicle body based on the vertical shock absorber according to claim 1, wherein: the vertical vibration reduction system comprises a vertical vibration reducer (6), a first vibration reduction seat (7) and a second vibration reduction seat (8), the first vibration reduction seat (7) is connected with the vehicle body (1) through bolts, one end of the vertical vibration reducer is hinged to the first vibration reduction seat (7), the second vibration reduction seat (8) is fixed to the bottom end of the bogie (2) framework, the second vibration reduction seat (8) is located below the first vibration reduction seat (7), the other end of the vertical vibration reducer is hinged to the second vibration reduction seat (8), and the vertical vibration reducer (6) is electrically connected with the active control processor (3).

5. A control method for controlling abnormal shaking of a vehicle body based on a vertical shock absorber is characterized by comprising the following steps: the apparatus for controlling abnormal shaking of a vehicle body according to any one of claims 1 to 4, comprising the steps of;

step one, the active control processor (3) acquires six horizontal and vertical vibration accelerations a in the middle of the left side beam, the middle of the right side beam and the sleeper beam in real time through the acceleration sensing system_{L_Z}(t)、a_{L_Y}(t)、a_{R_Z}(t)、a_{R_Y}(t)、a_{B_Z}(t)、a_{B_Y}(t) and four vertical damper loads F on both sides of the front and rear ends of the vehicle body (1)_{sv_FL}(t)、F_{sv_FR}(t)、F_{sv_RL}(t)、F_{sv_RR}(t), Z and Y respectively represent the vertical direction and the transverse direction of the car body, L, R represents a left side beam measuring point and a right side beam measuring point, and B represents a sleeper beam correction acceleration measuring point; sv represents a vertical shock absorber, FL represents the left side of a front bogie, FR represents the right side of a front bogie, RL represents the left side of a rear bogie, RR represents the right side of the rear bogie, t represents time, and the sampling frequency is fs, which is required to be 100Hz or more;

step two, on the basis of the step one, the active control processor (3) processes and records the real-time data obtained in the step one, and then judges whether the vehicle body (1) has abnormal jitter according to a judgment logic preset in the active control processor (3), wherein the specific processing and judgment process is as follows:

data preprocessing:

the active control processor carries out 1 time data processing every 0.5s, acceleration data with the length of 1s between t-1 time and t time is processed, namely the size of a data processing window is 1s, the slippage of the window is 0.5s, and the acceleration data is defined as a_{L_Z}(n)、a_{L_Y}(n)、a_{R_Z}(n)、a_{R_Y}(n)、a_{B_Z}(n)、a_{B_Y}(n), since the data length is 1s, the value of n is the sampling frequency value,

using a band-pass filter to the acceleration data a_{L_Z}(n)、a_{L_Y}(n)、a_{R_Z}(n)、a_{R_Y}(n)、a_{B_Z}(n)、a_{B_Y}(n) carrying out band-pass filtering at 5-12 Hz to obtain filtered acceleration data a_{L_Z_bp}(n)、a_{L_Y_bp}(n)、a_{R_Z_bp}(n)、a_{R_Y_bp}(n)、a_{B_Z_bp}(n)、a_{B_Y_bp}(n)；

And (3) judging the phase relation:

with a_{L_Z_bp}(n)、a_{R_Z_bp}(n) calculating the average slope k of the vertical acceleration of the left and right side beams of the vehicle body as an analysis object_ZNamely:

in the same way, with a_{L_Y_bp}(n)、a_{R_Y_bp}(n) calculating the average slope k of the lateral acceleration of the left and right side beams of the vehicle body as an analysis object_YNamely:

satisfy k_Z<0、k_Y>When the vibration amplitude is 0, judging the vertical vibration opposite phases of the left and right side beams, judging the same phase of the horizontal vibration, stopping judging, and waiting for the next judgment for 0.5 s;

and (3) threshold judgment:

when phase decision k is satisfied_Z<0、k_Y>0, and then performing threshold judgment to a_{L_Z_bp}(n)、a_{R_Z_bp}(n)、a_{L_Y_bp}(n)、a_{R_Y_bp}(n)、a_{B_Z_bp}(n)、a_{B_Y_bp}(n) extracting peak-to-valley values, then taking absolute values of the extracted peak-to-valley values, and calculating average values of the absolute values of the peak-to-valley values, which are respectively expressed as a_{L_Z_bp_mean_peak}、a_{L_Y_bp_mean_peak}、a_{R_Z_bp_mean_peak}、a_{R_Y_bp_mean_peak}、a_{B_Z_bp_mean_peak}、a_{B_Y_bp_mean_peak}If the following six criteria are met simultaneously, judging that the vehicle body has abnormal jitter, otherwise, stopping processing, and waiting for the next 0.5s for data processing, wherein the criteria are as follows:

when the vehicle body is judged to be abnormally shaken, an active control signal is sent to the vertical shock absorber (6) through the active control processor (3),

the control signals are: extracting four vertical shock absorber loads F with the length of 1s between t-1 time and t time_{sv_FL}(n)、F_{sv_FR}(n)、F_{sv_RL}(n)、F_{sv_RR}(n)，

Obtaining load dominant frequency f of four vertical shock absorbers through frequency domain FFT analysis_{sv_FL}、f_{sv_FR}、f_{sv_RL}、f_{sv_RR}By obtaining four main frequencies f of the load_{sv_FL}、f_{sv_FR}、f_{sv_RL}、f_{sv_RR}Obtaining the average value f of the load dominant frequency of the vertical shock absorber_svWhen the vehicle body shakes abnormally, the front bogie (2) and the rear bogie (2) roll to move in the same phase, in order to inhibit the vehicle body from shaking abnormally, the front bogie and the rear bogie need to be controlled to roll to move in opposite phases, the loads of the left vertical shock absorber (6) and the right vertical shock absorber (6) of the front bogie need to lag by 90 degrees, the loads of the left vertical shock absorber and the right vertical shock absorber of the rear bogie need to advance by 90 degrees, and the vehicle body shaking-restraining device specifically operates as follows:

the lag and lead times τ, τ ═ 1/f are determined_sv) X 0.25s, the active control load signal sent to the vertical shock absorber (6) is F_{sv_FL}(t+τ)、F_{sv_FR}(t+τ)、F_{sv_RL}(t-τ)、F_{sv_RR}(t-τ)；

Step three, the active control load signals sent out in the step two are respectively sent to vertical shock absorbers (6) on the front end and the rear end of the vehicle body (1), so that the loads of the left vertical shock absorber (6) and the right vertical shock absorber (6) of the front end bogie (2) are respectively delayed by 90-degree phases compared with the original loads, the loads of the left vertical shock absorber (6) and the right vertical shock absorber (6) of the rear end bogie (2) are respectively advanced by 90-degree phases compared with the original loads, the load amplitude keeps the original amplitude, and the anti-phase, same-frequency and same-amplitude side rolling motion of the front bogie and the rear bogie (;

step four, after the active control signal is sent out in the step three, the processor still judges according to the original every 0.5s, if the abnormal shake of the vehicle body is still judged, the load signal F of the vertical shock absorber (6) obtained at the last moment is continuously sent out_{sv_FL}(t+τ)、F_{sv_FR}(t+τ)、F_{sv_RL}(t-τ)、F_{sv_RR}(t- τ), and stopping if it is determined that the vehicle body is not abnormally shakenAnd sending an active control signal to the vertical shock absorber, recovering the original characteristic of the shock absorber, passively absorbing the shock, clearing the sent active control signal, and storing the signal for the next time, thereby monitoring and controlling the abnormal shaking of the vehicle body repeatedly.

Technical Field

The invention relates to a device and a method for controlling abnormal shaking of a vehicle body based on a vertical shock absorber.

Background

In the actual operation of domestic high-speed motor train units, the vehicle operation safety can be fully ensured, and the excellent operation quality can be kept in most operation lines and operation time. However, in some cases, some abnormal vibration may occur due to an abnormal wheel-rail contact relationship. For example, the wheels of the motor train unit need periodic maintenance, and generally, the wheel profile turning is performed every 15-30 kilometers of the motor train unit, that is, the profile after operation wear is turned again to the initial design profile, so as to ensure that the contact relationship between the wheel tracks is normal. Similarly, high-speed railway line rails also require grinding of the rail profile over a period of time. However, under certain conditions, if the contour of a track is abnormal, when wheels of a motor train unit are in the later period of a maintenance cycle, the track relationship is abnormally matched, a bogie has obvious snaking periodic motion, and the motion frequency is between 7 and 10Hz, so that low-order elastic modes, especially first-order diamond modes, of the motor train unit body can be excited, the motor train unit body has obvious shaking because the frequency of the first-order diamond modes is 8 to 10Hz, and if the structures such as seats, luggage racks and the like in a passenger room exist assembly gaps, abnormal vibration can cause the structures to rub or collide with other body structures, obvious noise is generated, the running quality is poor, the motor train unit body is a direct structure for carrying passengers, and the riding comfort of the passengers is directly reduced when the motor train body abnormally shakes. Therefore, the problem of how to control the abnormal shaking of the train body of the motor train unit is urgent.

Disclosure of Invention

The application provides a device and a method for controlling abnormal shaking of a train body based on a vertical shock absorber, which solve the problem of shaking of the train body of a motor train unit in the prior art and eliminate the shaking phenomenon of the train body of the motor train unit.

The technical problem solved by the invention can be realized by adopting the following technical scheme:

a device for controlling abnormal shaking of a vehicle body based on a vertical shock absorber comprises the vehicle body, bogies at the front end and the rear end of the vehicle body, a vertical shock absorber,

an active control processor;

the acceleration sensing system is arranged on the vehicle body and is electrically connected with the active control processor;

and the vertical vibration reduction systems are respectively arranged between the front end and the rear end of the vehicle body (1) and the bogie (2) and are electrically connected with the active control processor.

The active control processor comprises a data acquisition module, a data analysis module and a data threshold judgment module, wherein the data acquisition module is electrically connected with the acceleration sensing system and the vertical vibration reduction system respectively.

The acceleration sensing system comprises a first acceleration sensor, a second acceleration sensor and a correction acceleration sensor, wherein the first acceleration sensor is arranged in the longitudinal middle of a left side beam of the vehicle body, the second acceleration sensor is arranged in the longitudinal middle of a right side beam, the correction acceleration sensor is arranged on the transverse end part of a sleeper beam at one end of the vehicle body, the first acceleration sensor, the second acceleration sensor and the correction acceleration sensor are respectively and electrically connected with the active control processor, and the first acceleration sensor, the second acceleration sensor and the correction acceleration sensor respectively test the vertical acceleration and the transverse acceleration of the longitudinal middle of the left side beam, the longitudinal middle of the right side beam and the transverse end part of the sleeper beam of the vehicle body.

The vertical vibration reduction system comprises a vertical vibration reducer, a first vibration reduction seat and a second vibration reduction seat, the first vibration reduction seat is connected with the vehicle body through bolts, one end of the vertical vibration reducer is hinged to the first vibration reduction seat, the second vibration reduction seat is fixed to the bottom end of the bogie frame, the second vibration reduction seat is located below the first vibration reduction seat, the other end of the vertical vibration reducer is hinged to the second vibration reduction seat, and the vertical vibration reducer is electrically connected with the active control processor.

A control method for controlling abnormal shaking of a vehicle body based on a vertical shock absorber comprises the device for controlling the abnormal shaking of the vehicle body, and comprises the following steps;

step one, the active control processor acquires six horizontal and vertical vibration accelerations a in the middle of the left side beam, the middle of the right side beam and the sleeper beam in real time through the acceleration sensing system_{L_Z}(t)、a_{L_Y}(t)、a_{R_Z}(t)、a_{R_Y}(t)、a_{B_Z}(t)、a_{B_Y}(t) and four vertical damper loads F on both sides of the front and rear ends of the vehicle body_{sv_FL}(t)、F_{sv_FR}(t)、F_{sv_RL}(t)、F_{sv_RR}(t), Z and Y respectively represent the vertical direction and the transverse direction of the car body, L, R represents a left side beam measuring point and a right side beam measuring point, and B represents a sleeper beam correction acceleration measuring point; sv represents a vertical shock absorber, FL represents the left side of a front bogie, FR represents the right side of a front bogie, RL represents the left side of a rear bogie, RR represents the right side of the rear bogie, t represents time, and the sampling frequency is fs, which is required to be 100Hz or more;

step two, on the basis of the step one, the active control processor processes and records the real-time data obtained in the step one, and then judges whether the vehicle body has abnormal jitter according to a judgment logic preset in the active control processor, wherein the specific processing and judgment process is as follows:

data preprocessing:

the active control processor carries out 1 time data processing every 0.5s, acceleration data with the length of 1s between t-1 time and t time is processed, namely the size of a data processing window is 1s, the slippage of the window is 0.5s, and the acceleration data is defined as a_{L_Z}(n)、a_{L_Y}(n)、a_{R_Z}(n)、a_{R_Y}(n)、a_{B_Z}(n)、a_{B_Y}(n), since the data length is 1s, the value of n is the sampling frequency value,

using a band-pass filter to the acceleration data a_{L_Z}(n)、a_{L_Y}(n)、a_{R_Z}(n)、a_{R_Y}(n)、a_{B_Z}(n)、a_{B_Y}(n) carrying out band-pass filtering at 5-12 Hz to obtain filtered acceleration data a_{L_Z_bp}(n)、a_{L_Y_bp}(n)、a_{R_Z_bp}(n)、a_{R_Y_bp}(n)、a_{B_Z_bp}(n)、a_{B_Y_bp}(n)；

And (3) judging the phase relation:

with a_{L_Z_bp}(n)、a_{R_Z_bp}(n) calculating the average slope k of the vertical acceleration of the left and right side beams of the vehicle body as an analysis object_ZNamely:

in the same way, with a_{L_Y_bp}(n)、a_{R_Y_bp}(n) calculating the average slope k of the lateral acceleration of the left and right side beams of the vehicle body as an analysis object_YNamely:

satisfy k_Z<0、k_Y>When the vibration amplitude is 0, judging the vertical vibration opposite phases of the left and right side beams, judging the same phase of the horizontal vibration, stopping judging, and waiting for the next judgment for 0.5 s;

and (3) threshold judgment:

when phase decision k is satisfied_Z<0、k_Y>0, and then performing threshold judgment to a_{L_Z_bp}(n)、a_{R_Z_bp}(n)、a_{L_Y_bp}(n)、a_{R_Y_bp}(n)、a_{B_Z_bp}(n)、a_{B_Y_bp}(n) extracting peak-to-valley values, then taking absolute values of the extracted peak-to-valley values, and calculating average values of the absolute values of the peak-to-valley values, which are respectively expressed as a_{L_Z_bp_mean_peak}、a_{L_Y_bp_mean_peak}、a_{R_Z_bp_mean_peak}、a_{R_Y_bp_mean_peak}、a_{B_Z_bp_mean_peak}、a_{B_Y_bp_mean_peak}If the following six criteria are met simultaneously, judging that the vehicle body has abnormal jitter, otherwise, stopping processing, and waiting for the next 0.5s for data processing, wherein the criteria are as follows:

when the vehicle body is judged to be abnormally shaken, an active control signal is sent to the vertical shock absorber by the active control processor,

the control signals are: extracting four vertical shock absorber loads F with the length of 1s between t-1 time and t time_{sv_FL}(n)、F_{sv_FR}(n)、F_{sv_RL}(n)、F_{sv_RR}(n)，

Obtaining load dominant frequency f of four vertical shock absorbers through frequency domain FFT analysis_{sv_FL}、f_{sv_FR}、f_{sv_RL}、f_{sv_RR}By obtaining four main frequencies f of the load_{sv_FL}、f_{sv_FR}、f_{sv_RL}、f_{sv_RR}Obtaining the average value f of the load dominant frequency of the vertical shock absorber_svBecause when the automobile body takes place unusual shake, preceding, back bogie roll motion in phase, in order to restrain the unusual shake of automobile body, the roll motion that needs preceding, back bogie is the antiphase, and this needs to make the left and right vertical shock absorber load of preceding bogie all lag 90 degrees, and the left and right vertical shock absorber load of back bogie all advances 90 degrees, and concrete operation is:

the lag and lead times τ, τ ═ 1/f are determined_sv) X 0.25s, the active control load signal sent to the vertical shock absorber is F_{sv_FL}(t+τ)、F_{sv_FR}(t+τ)、F_{sv_RL}(t-τ)、F_{sv_RR}(t-τ)；

Step three, the active control load signals sent out in the step two are respectively sent to vertical shock absorbers on the front and rear sides of the vehicle body, so that the loads of the left and right vertical shock absorbers of the front end bogie respectively lag the original loads by 90 degrees in phase, the loads of the left and right vertical shock absorbers of the rear end bogie respectively lead the original loads by 90 degrees in phase, the load amplitude keeps the original amplitude, and the anti-phase, same-frequency and same-amplitude side rolling motion of the front and rear bogies is realized;

step four, after the active control signal is sent out in the step three, the processor still judges according to the original every 0.5s, if the abnormal shake of the vehicle body is still judged, the vertical shock absorber load signal F obtained at the last moment is continuously sent out_{sv_FL}(t+τ)、F_{sv_FR}(t+τ)、F_{sv_RL}(t-τ)、F_{sv_RR}(t-tau), if the vehicle body is judged not to have abnormal shaking, stopping sending the active control signal to the vertical shock absorber, recovering the original characteristic of the shock absorber, passively damping, clearing the sent active control signal, and waiting for the next storage, thereby monitoring and controlling the abnormal shaking of the vehicle body repeatedly.

The invention has the beneficial effects that: the vertical vibration damping system can eliminate the abnormal shaking phenomenon of the train body, increase the comfort of passengers and reduce the railway operation and maintenance cost.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic structural view of the present invention.

FIG. 2 is a schematic view of the truck and vertical damping system of the present invention.

FIG. 3 is a schematic diagram of an active control processor of the present invention.

In the figure: 1-a vehicle body; 2-a bogie; 3-an active control processor; 4-a first acceleration sensor; 5-a second acceleration sensor; 6-vertical vibration absorber; 7-a first damping mount; 8-a second damping mount; 9-correction of acceleration sensor.

Detailed Description