论文部分内容阅读
为分析磁浮列车通过曲线时的导向特性,以列车单个车辆转向架为对象,研究列车在弯道条件下运行时导向系统动力学的建模与控制方法,分析系统工作特性与影响因素。首先,根据刚体动力学理论,推导单转向架系统沿轨道运动的侧向偏移与偏航方程。针对二自由度导向系统模型,利用状态反馈和闭环极点配置方法,实现系统解耦和控制器设计。利用MATLAB软件搭建系统仿真模型,以实际线路的数学模型作为输入,获取不同运行速度、外部干扰等条件下导向工作状态变化,分析线路参数和运行速度的影响以及控制器的性能。最后,记录系统试验曲线,与仿真结果进行对照,两者的导向状态在跟踪轨道线路变化的趋势上基本一致,表明所建立的动力学模型具有合理性。为整车系统的动力学建模和曲线通过特性的研究提供了有效的方法。
In order to analyze the guidance characteristics of the maglev train passing through the curve, a single vehicle bogie of the train is taken as an object to study the modeling and control method of the guidance system dynamics when the train is operating under the curve conditions and to analyze the system operating characteristics and influencing factors. First, according to the rigid body dynamics theory, the lateral deflection and yaw equation of the single bogie system along orbital motion are deduced. Aimed at two degrees of freedom oriented system model, the system decoupling and controller design are realized by using state feedback and closed-loop pole placement. The system simulation model is established by using MATLAB software, the mathematical model of the actual line is taken as input, the change of the working state under different operating speeds and external disturbances is obtained, the influence of the line parameters and operating speed and the performance of the controller are analyzed. Finally, the system test curve is recorded and compared with the simulation results. The guiding states of the two systems are basically the same in tracking the trend of the track line, which shows that the established dynamic model is reasonable. It provides an effective method for the modeling of vehicle dynamics and the study of curve passing characteristics.