摆式列车主动倾摆控制的数值仿真研究

Numerical Simulation of Active Tilting Control for Tilting Train

为了仿真研究摆式列车倾摆控制信号的生成和倾摆控制规律,笔者建立了摆式列车机电耦合动力学模型和倾摆系统模型。该模型通过位于头车一位构架上的陀螺仪实时检测曲线,由同一位置的横向加速度滤波信号得到倾摆控制信号,并用线性预测法得到头车和第二辆车的倾摆控制信号。设计了倾摆系统的P数字控制器和H∞鲁棒数字控制器。采用数值积分方法进行仿真计算,研究了各种计算工况下2种控制器的控制效果。针对倾摆角度、角速度和角加速度进行比较分析,结果表明,2种控制器都能很好地跟踪倾摆控制信号,在有反馈干扰或控制信号突变时,鲁棒控制器可以更好地抑制倾摆角加速度;减小P控制的比例系数可以降低倾摆角加速度,但跟踪性能变差。

The mechanical-electrical coupled dynamic model of the tilting train and the mathematical model of the carbody tilting system are established in order to study the method to build tilting control signals and control strategies. The simulation program is developed and the carbody tilt is controlled by the method of online measurement of curving signals. The curved track information is obtained from the filtered signals of the gyroscope on the first bogie frame. The tilting control signals are based on the filtered lateral acceleration of the sensor on the first bogie frame. The controlling signals of the first car and the second car are forecasted from the filtered signals. The P digital controller and H∞ robust digital controller are designed for the tilting system. The control results of the two controllers are studied by the numerical method. It can be known from the numerical results that the two controllers both have satisfactory control effects. But the robust controller possesses better performance to restrain tilting angular acceleration in the presence of feedback disturbances or abrupt changes of control signals. The tilting angular acceleration will reduce when the P controller has a lower scale factor, but the tilting angle is not so good.