基于鲁棒线性二次高斯的自适应时滞补偿在车桥耦合系统中应用

Application of adaptive time delay compensation combined with robust linear quadratic Gauss in vehicle-bridge coupling real-time hybrid simulation

近年来,为了研究高速列车-桥梁轨道的相互作用,通常采用实时混合仿真技术(RTHS)来模拟该耦合系统的动力响应。振动台模拟高速列车响应,利用预先建立的桥梁轨道数值模型进行实时计算,并在车桥耦合系统中对桥梁轨道上行车过程进行实时混合试验。采用单自由度振动台作为加载设备,利用桥梁轨道的数值模型对高速列车位移命令进行数值模拟,并将理想化的高速列车的模型作为试验子结构。由于在高频率范围内位移测量精度较低,补偿车桥耦合系统中高频信号的时滞是该技术的难点。为此,提出了一种基于鲁棒线性二次高斯的自适应时间序列补偿算法(ATS+RLQG),对于RTHS中高频信号能够起到期望的的补偿效果。测试了不同的加载条件,如不同的列车速度、轨道不平顺性、不同的桥梁截面刚度和沉降程度,并以命令和响应信号的均方根误差作为评价指标,比较了ATS+RLQG和ATS算法的时滞补偿效果。仿真结果表明,ATS+RLQG能够对不同类型的信号进行时滞和幅值补偿,在实时混合试验中能够作为稳定的时滞补偿器,对于高频信号的重现也能达到预期效果,且补偿效果优于ATS。

In a recent study to investigate vehicle-railway bridge interaction of high-speed railway system,real-time hybrid simulation(RTHS)is applied to simulate the dynamic response of this coupling system.The railway bridge is selected as the numerical substructure whose dynamic displacement response subject to the moving vehicle′s excitation is numerically simulated.The simulated response is then imposed using a uniaxial shaking table onto the high-speed train(i.e.,the suspension frame and vehicle body),which is considered as the physical substructure in the RTHS.The measured reaction force of the vehicle is sent back to the bridge model to determine the displacement command of the next time step and forming a closed-loop simulation process.The unique challenge in this RTHS is to compensate the time delay of the high-frequency signals in the vehicle-bridge coupling system because of the less accurate displacement control in that frequency range.Therefore,an adaptive time series(ATS)compensation algorithm combined with the robust linear quadratic Gaussian(RLQG)is proposed to address this control challenge of RTHS involving high-frequency signals,where both the acceleration and the displacement responses are considered in the compensation.Different loading conditions,such as different train speed,long-short wave irregularity,varying bridge section stiffness and settlement degree,are tested during which the time-delay compensation effects using the combined ATS and RLQG method(ATS+RLQG).The root mean square error of commands and responses is used as the evaluating indicator.The simulation results show that ATS+RLQG can perform time delay and amplitude compensation on different types of signals,and can be used as a stable time delay compensator in RTHS,it can also achieve the desired effect for the reproduction of high-frequency signals,and the compensation effectiveness is better than ATS.