高速列车转向架蛇行运动Hopf分岔控制研究

Research on Hopf Bifurcation Control of Bogie Hunting Motion of High-Speed Trains

转向架蛇行运动稳定性直接决定高速列车能否安全和平稳运行,采用主动悬挂技术是提高稳定性的有效途径,但目前针对采用主动控制后的转向架蛇行运动Hopf分岔机理和稳定性演变规律的研究还十分缺乏.本文基于高速列车转向架摇头反馈控制下的蛇行运动Hopf分岔特性展开研究.建立包含转向架横移、摇头和车体横移的三自由度简化模型,采用作动器替代现有的抗蛇行减振器提供转向架摇头控制力矩.分别选取转向架摇头角位移和角速度作为状态反馈量,设计线性反馈控制器,并通过Matcont仿真环境实现Hopf分岔和极限环计算.研究表明:对比被动悬挂的分岔特性,转向架摇头角位移和角速度两种主动控制方式均能延后蛇行运动Hopf分岔点,即提高系统线性临界速度;摇头角速度控制能降低蛇行运动频率和分岔后极限环幅值;摇头角位移控制会增大蛇行运动频率,而极限环幅值无明显改变.因此,通过引入转向架摇头控制并选取合适控制增益,能够有效提高高速转向架蛇行运动稳定性.

The bogie hunting stability directly determines the safe and smooth operation of the train at high speed.The use of active suspension technologies is an efficient way to improve the stability.At present,there is lack of research on the Hopf bifurcation mechanism and stability evolution of bogie hun-ting motion with applying active control.Hence,the Hopf bifurcation characteristics of hunting motion under the bogie yaw feedback control is studied.A three-degree-of-freedom simplified vehicle model in-cluding lateral and yaw motions of the bogie and lateral motion of the carbody is established.The actua-tor is adopted to replace the existing anti-hunting damper to provide the bogie yaw control torque.The bogie yaw angular displacement and angular velocity are taken as the state feedbacks and design the line-ar feedback controller.The Hopf bifurcation and limit cycle calculations are realized by using Matcont simulation.The results show that,compared with the bifurcation characteristics of passive suspension,the Hopf bifurcation points can be delayed by introducing two active control methods for bogie yaw angu-lar displacement and velocity,i.e,the linear critical speed of the system is increased.The amplitude of limit cycle and the frequency of hunting motion decrease under the control of bogie yaw angular velocity.While under the control of bogie yaw angular displacement,the frequency of hunting motion increases,and the amplitude of limit cycle has no obvious change.Therefore,under the reasonable selection of control gain,the use of bogie yaw control can effectively improve the hunting stability of high-speed bogie.