高速列车谐波转矩振动分析及自抗扰控制

PDF(3484 KB)

振动与冲击 ›› 2022, Vol. 41 ›› Issue (1) : 98-106.

论文

高速列车谐波转矩振动分析及自抗扰控制

李伟平1，魏静1，邬平波2，石怀龙2，朱万刚3，张玉忠3

作者信息 +

Harmonic torque vibration analysis and active disturbance rejection control of high-speed train

LI Weiping1, WEI Jing1, WU Pingbo2, SHI Huailong2, ZHU Wangang3, ZHANG Yuzhong3

Author information +

文章历史 +

摘要

高速列车在实际运行过程中，当路面不平顺、车轮磨耗或者列车由明线运行到突然进入隧道均可能会引起转矩脉动，引起齿轮箱振动加剧。为研究谐波转矩波动幅值对高速列车牵引齿轮箱振动加速度的影响，建立考虑时变啮合刚度、啮合阻尼、啮合误差、齿侧间隙的齿轮传动系统与三相异步动态电机耦合的机电传动系统模型，在Simulink平台上分析牵引传动系统在谐波转矩幅值变化的工况下齿轮箱输入端振动加速度特性。结果表明谐波转矩增大使齿轮箱振动加速度加大，且横向振动加速度增加最明显。耦合系统叠加混合型自抗扰控制器(ADRC)后，对谐波转矩引起的齿轮箱横向振动具有较好的抑制作用。

Abstract

When the road is uneven, the wheels are worn or the train runs from an open line to suddenly enter the tunnel, harmonic torque may be caused and the gearbox vibration will be intensified in the actual operation of high-speed trains. In order to study the influence of harmonic torque fluctuation amplitude on the high-speed train traction gearbox vibration acceleration, this paper established an electromechanical coupling system between a three-phase asynchronous dynamic motor and a gear transmission system that considered time-varying meshing stiffness, meshing damping, meshing error, and tooth backlash transmission system model. The vibration acceleration characteristics of the gearbox input side were analyzed on the Simulink platform. The results show that the increase of harmonic torque increases the gearbox vibration acceleration, and the longitudinal vibration acceleration increases most obviously. After the coupling system is superimposed on the hybrid active disturbance rejection controller(ADRC), it has a better inhibitory effect on the longitudinal vibration of the gearbox caused by the harmonic torque.

导出引用

李伟平1，魏静1，邬平波2，石怀龙2，朱万刚3，张玉忠3. 高速列车谐波转矩振动分析及自抗扰控制[J]. 振动与冲击, 2022, 41(1): 98-106

LI Weiping1, WEI Jing1, WU Pingbo2, SHI Huailong2, ZHU Wangang3, ZHANG Yuzhong3. Harmonic torque vibration analysis and active disturbance rejection control of high-speed train[J]. Journal of Vibration and Shock, 2022, 41(1): 98-106

参考文献

[1] 陈哲明,王理章,喻洋. 联合仿真下谐波转矩对高速列车的动力学分析[J]. 机械设计与制造, 2016, 301(3): 124-126, 130.
CHEN Zhe-ming, WANG Li-zhang, Yu Yang. Dynamic analysis of harmonic torque on high-speed train under co-simulation[J]. Machine Design and Manufacturing, 2016, 301(3): 124-126, 130.
[2] 王文勋. 动车组牵引电机转矩脉动研究[D]. 北京：北京交通大学, 2015.
WANG Wen-xun. Research on Torque Ripple of Traction Motor for EMU[D]. Beijing: Beijing Jiaotong University, 2015.
[3] 黄泽好,吴晓宇,陈哲明. 高速列车异步牵引电机谐波转矩的分析与计算[J]. 重庆理工大学学报(自然科学), 2013, 27(8): 1-5.
HUANG Ze-hao, WU Xiao-yu, CHEN Zhe-ming. Analysis and calculation of harmonic torque of high-speed train asynchronous traction motor[J]. Journal of Chongqing University of Technology (Natural Science), 2013, 27(8): 1-5.
[4] 赵怀耘,刘建新,翟婉明. 异步牵引电机谐波转矩对机车动力学的影响[J]. 西南交通大学学报, 2009, 44(2): 269-273.
ZHAO Huai-yun, LIU Jian-xin, ZHAI Wan-ming. Influence of Asynchronous Traction Motor Harmonic Torque on Locomotive Dynamics[J]. Journal of Southwest Jiaotong University, 2009, 44(2): 269-273.
[5] 张翼. 高速列车车轮谐波磨耗下齿轮箱体振动特性研究[D]. 南昌：华东交通大学, 2018.
ZHANG Yi. Research on vibration characteristics of gearbox under harmonic wear of high-speed train wheels[D]. Nanchang: East China Jiaotong University, 2018.
[6] 李人宪,袁磊. 高速列车通过隧道时的压力波动问题[J]. 机械工程学报, 2014, 50(24): 115-121.
LI Ren-xian, YUAN Lei. Pressure fluctuation problem when high-speed train passes through tunnel [J]. Chinese Journal of Mechanical Engineering, 2014, 50(24): 115-121.
[7] 赵心颖,林飞,杨中平,等. 高速列车牵引传动系统机电耦合振动特性研究[J]. 铁道学报, 2018, 40(9): 40-47.
ZHAO Xin-ying, LIN Fei, YANG Zhong-ping, et al. Research on electromechanical coupling vibration characteristics of high-speed train traction drive system [J]. Journal of the China Railway Society, 2018, 40(9): 40-47.
[8] 崔利通,池茂儒,朱旻昊,等. 高速列车机电一体化控制仿真与分析[J]. 铁道机车车辆, 2014, 34(5): 6-11.
CUI Li-tong, CHI Mao-ru, ZHU Min-hao, et al. Simulation and analysis of high-speed train mechatronics control [J]. Railway Locomotives and Rolling Stock, 2014, 34(5): 6-11.
[9] 孙刚. 高速列车传动系统动力学研究[D]. 北京：北京交通大学, 2018.
SUN Gang. Research on the dynamics of high-speed train transmission system[D]. Beijing: Beijing Jiaotong University, 2018.
[10] WU Hao, WU Ping-bo, Xu Kai, et al. Research on vibration characteristics and stress analysis of gearbox housing in high-speed trains[J]. IEEE Access. vol. 7, pp. 102508–102518, 2019.
[11] ZHANG Tao, CHEN Zai-gang, ZHAI Wan-ming, et al. Establishment and validation of a locomotive–track coupled spatial dynamics model considering dynamic effect of gear transmissions[J]. Mechanical Systems and Signal Processing, 2019, 119: 328-345.
[12] QI Ya-yun, DAI Huan-yun. Influence of motor harmonic torque on wheel wear in high-speed trains[J]. Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit, 2019.
[13] 黄冠华,周宁,张卫华,等. 动态激励下高速列车齿轮传动系统振动特性分析[J]. 铁道学报, 2014, 36(12): 20-26.
HUANG Guan-hua, ZHOU Ning, ZHANG Wei-hua, et al. Vibration characteristics analysis of high-speed train gear transmission system under dynamic excitation[J]. Journal of the China Railway Society, 2014, 36(12): 20-26.
[14] Winterling M W, Tuinman E, Deleroi W. Attenuation of Ripple Torques in Inverter Supplied Traction Drives[C]. Seventh International Conference on Power Electronics and Variable Speed Drives. New York, IET, 1998: 364-369.
[15] Henao H, Kia S H, Capolino G A. Torsional-vibration Assessment and Gear-fault Diagnosis in Railway Traction System[J]. IEEE Transactions on Industrial Electronics, 2011, 58(5): 1707-1717.
[16] 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[J]. 交通运输工程学报, 2014, 14(5): 43-50.
LI Zhong-ji, DAI Huan-yun, ZENG Jing. Fuzzy semi-active control of railway vehicles based on magnetorheological damper [J]. Journal of Traffic and Transportation Engineering, 2014, 14(5): 43-50.
[17] 张隶新,魏来,王勇. 变刚度转臂定位节点对车辆动力学性能的影响[J]. 铁道车辆, 2016, 54(12): 1-4, 49.
ZHANG Li-xin, WEI Lai, WANG Yong. The influence of variable stiffness boom positioning node on vehicle dynamics [J]. Railway Vehicles, 2016, 54(12): 1-4, 49.
[18] 刘永强,廖英英,杨绍普,等. On-off控制对高速动车组综合动力学性能的影响分析[J]. 振动与冲击, 2016, 35(1): 70-73, 154.
LIU Yong-qiang, LIAO Ying-ying, YANG Shao-pu, et al. Analysis of the influence of on-off control on the comprehensive dynamic performance of high-speed EMUs [J]. Journal of Vibration and Shock, 2016, 35(1): 70-73, 154.
[19] 王新菊. 高速列车牵引传动系统控制方法研究[D]. 兰州：兰州交通大学, 2017.
WANG Xinju. Research on the control method of high-speed train traction drive system[D]. Lanzhou: Lanzhou Jiaotong University, 2017.
[20] GOU Bin, FENG Xiao-yun, SONG Wen-sheng, et al. Analysis and compensation of beat phenomenon for railway traction drive system fed with fluctuating DC-link voltage[C]. Proceedings of the 7th International Power Electronics and Motion Control Conference, China, Harbin. IEEE, 2012, 1: 654-659.
[21] 苟斌,冯晓云,宋文胜,等. 牵引变流器_电机拍频现象及其抑制方法[J]. 中国电机工程学报, 2013, 33(9): 55-63.
GOU Bin, FENG Xiao-yun, SONG Wen-sheng, et al. Traction converter_motor beat frequency phenomenon and its suppression method [J]. Proceedings of the Chinese Society of Electrical Engineering, 2013, 33(9): 55-63.
[22] WEI Jing, ZHANG Ai-qiang,WANG Gang-qiang, et al. A study of nonlinear excitation modeling of helical gears with modification: theoretical analysis and experiments [J]. Mechanism and machine theory, 2018, 128:314-335.
[23] 成大先. 机械设计手册(第四版)[M]. 北京: 电子工业出版社, 2007, 93-123.
CHENG Da-xian. Mechanical design manual (4th edition) [M]. Beijing: Electronic Industry Press, 2007, 93—123.
[24] 李润方, 王建军. 齿轮系统动力学-振动、冲击、噪声[M]. 北京：科学出版社, 1997, 59-68.
LI Run-fang, WANG Jian-jun. Gear system dynamics -vibration, impact, noise [M]. Beijing: Science Press, 1997, 59-68.
[25] 朱斌. 自抗扰控制入门[M]. 北京: 北京航空航天大学出版社, 2017, 21-23.
ZHU Bin. Introduction to ADRC[M]. Beijing: Beijing University of Aeronautics and Astronautics Press, 2017, 21-23.