Self-excited vibration problems of maglev vehicle-bridge interaction system

The self-excited vibration problems of maglev vehicle-bridge interaction system were addressed, which greatly degrades the stability of the levitation control, decreases the ride comfort, and restricts the cost of the whole system. Firstly, the coupled model containing the quintessential parts was built, and the mechanism of self-excited vibration was explained in terms of energy transmission from levitation system to bridge. Then, the influences of the parameters of the widely used integral-type proportion and derivation(PD) controller and the delay of signals on the stability of the interaction system were analyzed. The result shows that the integral-type PD control is a nonoptimal approach to solve the self-excited vibration completely. Furthermore, the differential-type PD controller can guarantee the passivity of levitation system at full band. However, the differentiation of levitation gap should be filtered by a low-pass filter due to noise of gap differentiation. The analysis indicates that a well tuned low-pass filter can still keep the coupled system stable.

μ-Syntheses of Suspension Systems for EMS and EDS Maglev Vehicles

Under model uncertainty and complex disturbance, the robust control strategy should be used in suspension control systems for various Maglev vehicles to obtain ride comfort of passengers. In this paper, the robust controllers are synthesized using μ approach for levitation system of electromagnetic Maglev vehicle and active suspension system of super conducting Maglev vehicle. The numerical simulations for different parameter perturbations and different disturbances are accomplished, and a comparison of μ control and H ∞ control is performed. The simulation results show that, both H ∞ control and μ control for two kinds of Maglev vehicles exhibit good stability robustness to plant model uncertainty, but μ control exhibits better performance robustness than H ∞ control, therefore better ride quality could be obtained by μ control.

Experimental investigation on vibration characteristics of the medium-low-speed maglev vehicle-turnout coupled system

The steel turnout is one of the key components in the medium–low-speed maglev line system.However,the vehicle under active control is prone to vehicle–turnout coupled vibration,and thus,it is necessary to identify the vibration characteristics of this coupled system through field tests.To this end,dynamic performance tests were conducted on a vehicle–turnout coupled system in a medium–low-speed maglev test line.Firstly,the dynamic response data of the coupled system under various operating conditions were obtained.Then,the natural vibration characteristics of the turnout were analysed using the free attenuation method and the finite element method,indicating a good agreement between the simulation results and the measured results;the acceleration response characteristics of the coupled system were analysed in detail,and the ride quality of the vehicle was assessed by Sperling index.Finally,the frequency distribution characteristics of the coupled system were discussed.All these test results could provide references for model validation and optimized design of medium–low-speed maglev transport systems.

Structure analysis of levitation chassis of medium-to-low speed maglev vehicles based on left-right decoupling

Levitation chassis, as an extremely important component of maglev vehicles, provides functions of transmitting levitation force and steering force, and directly affects the safety performance of the vehicle. Based on the vertical dynamics model of the levitation chassis, kinetic equations of the model are established, and a simulation program is designed to analyze the structural decoupling function of the chassis, especially under the influence of elastic constraints between the left and right modules, which are exclusively owned by maglev vehicles. A finite element model of the levitation chassis based on left-right decoupling is constructed. Analysis results of the model show that the mechanical properties of the chassis tailored for the vehicle meet the design requirements, and the stiffness and strength is adequate to bear the weight of the whole vehicle.

Control strategy of maglev vehicles based on particle swarm algorithm

Taking a single magnet levitation system as theobject, a nonlinear numerical model of the vehicle–guidewaycoupling system was established to study the levitationcontrol strategies. According to the similarity in dynamics,the single magnet-guideway coupling system was simplifiedinto a magnet-suspended track system, and the correspondinghardware-in-loop test rig was set up usingdSPACE. A full-state-feedback controller was developedusing the levitation gap signal and the current signal, andcontroller parameters were optimized by particle swarmalgorithm. The results from the simulation and the test rigshow that, the proposed control method can keep the systemstable by calculating the controller output with the fullstateinformation of the coupling system, Step responsesfrom the test rig show that the controller can stabilize thesystem within 0.15 s with a 2 % overshot, and performswell even in the condition of violent external disturbances.Unlike the linear quadratic optimal method, the particleswarm algorithm carries out the optimization with thenonlinear controlled object included, and its optimizedresults make the system responses much better.

Characteristics Investigation of Single-Sided Ironless PMLSM Based on Halbach Array for Medium-Speed Maglev Train

This paper investigates characteristics of ironless permanent magnet linear synchronous motor(PMLSM)based on Halbach array used for medium-speed(200km/h)maglev train.Long primary ironless coil is laid in the middle of track and the Halbach permanent magnet array is attached to the bottom of each bogie as a source of traction,U-shape electromagnets at the both sides of the train for levitation.Two dimensional analytical model of single-sided ironless PMLSM based on Halbach array is established,using linear overlay method,the no-load air gap magnetic field is calculated firstly,winding current density distribution is obtained for calculating the characteristics of thrust and normal force against power angle,including force characteristics with equal and unequal pole pitch,the influence of steel sleeper,etc.Besides,the mathematical model for this type motor is built by 3D finite element method,the traction characteristics of medium-speed maglev under maximum speed 200km/h are calculated.The characteristics of this type motor are satisfactory owing to there is no detent force in the motor and thrust force reach maximum meanwhile normal force can be eliminated.Calculation method is verified by comparing finite element results,experimental result on a 200kW type motor further validates the accuracy of calculation and some important conclusions are obtained.

Hierarchical model updating for high-speed maglev vehicle/guideway coupled system based on multiobjective optimization

The high-speed maglev vehicle/guideway coupled model is an essential simulation tool for investigating vehicle dynamics and mitigating coupled vibration.To improve its accuracy efficiently,this study investigated a hierarchical model updating method integrated with field measurements.First,a high-speed maglev vehicle/guideway coupled model,taking into account the real effect of guideway material properties and elastic restraint of bearings,was developed by integrating the finite element method,multi-body dynamics,and electromagnetic levitation control.Subsequently,simultaneous in-site measurements of the vehicle/guideway were conducted on a high-speed maglev test line to analyze the system response and structural modal parameters.During the hierarchical updating,an Elman neural network with the optimal Latin hypercube sampling method was used to substitute the FE guideway model,thus improving the computational efficiency.The multi-objective particle swarm optimization algorithm with the gray relational projection method was applied to hierarchically update the parameters of the guideway layer and magnetic force layer based on the measured modal parameters and the electromagnet vibration,respectively.Finally,the updated coupled model was compared with the field measurements,and the results demonstrated the model’s accuracy in simulating the actual dynamic response,validating the effectiveness of the updating method.

预应力效应对中速磁浮线路简支梁车-桥耦合振动响应的影响

以长沙磁浮线路简支梁桥为研究对象,建立考虑不同预应力效应的磁浮线路简支梁桥车-桥耦合振动模型,分析预应力效应对中速磁浮线路车-桥耦合振动响应的影响。结果表明:预应力效应的变化对桥梁动力响应影响明显,预应力增加显著加剧桥梁竖向振动加速度,预应力由0.67P0(P0为张拉控制应力)增加到1.33P0时,桥梁跨中竖向最大加速度从0.21 m/s^(2)增至0.44 m/s^(2);车速增加会加剧预应力效应的影响,对桥梁竖向振动加速度的影响尤为明显,车速由20 km/h增加到200 km/h时,在1.00P0作用下,桥梁跨中竖向最大加速度从0.15 m/s^(2)增至0.76 m/s^(2);箱壁局部变形对车-桥耦合竖向振动响应有显著影响,预应力导致的箱壁局部变形不可忽略。

Development of new electromagnetic suspension-based high-speed Maglev vehicles in China:Historical and recent progress in the field of dynamical simulation

High-speed Maglev is a cutting-edge technology brought back into the focus of research by plans of the Chinese government for the development of a new 600 km/h Maglev train.A Chinese‐German cooperation with industrial and academic partners has been established to pursue this ambitious goal and bring together experts from multiple disciplines.This contribution presents the joint work and achievements of CRRC Qingdao Sifang,thyssenkrupp Transrapid,CDFEB,and the ITM of the University of Stuttgart,regarding research and development in the field of high‐speed Maglev systems.Furthermore,an overview is given of the historical development of the Transrapid in Germany,the associated development of dynamical simulation models,and recent developments regarding high-speed Maglev trains in China.

Vibration reduction for a new-type maglev vehicle with mid-mounted suspension under levitation failure

Levitation failure occasionally occurs when a maglev vehicle runs on a track. At the moment of levitation failure, the levitation module falls and hits the track, and there is a violent impact on the maglev vehicle-bridge coupled system. In this paper, the response of the maglev vehicle-bridge coupled system at the moment of and after levitation failure is analyzed, and three methods of reducing the vibration are proposed. First, a dynamics model of the maglev vehicle-bridge coupled system, which considers the control system, five flexible bridges, and track irregularity, is established, and the correctness of the model is verified using test data. The system response for different failure cases is then analyzed. Finally, the three methods of reducing vibration under levitation failure are proposed, and their effectiveness is evaluated. The results show that the failure position and speed barely affect the response, whereas the maximum impact forces due to levitation failure reduced by 13%, 63%, and 50% by adopting the three methods, namely connecting the first and third coils in series, coupling the ends of the levitation module vertically, and adopting two sets of anti-roll devices, respectively. When the latter two schemes are combined, the maximum impact force reduced from 133 kN(without vibration-reduction measures) to 9 kN, and the vibration-reduction measure is also effective for failures of the levitation units at the ends of the vehicle.

Maglev self-excited vibration suppression with a virtual sky-hooked damper

This work addresses the problem of self-excited vibration,which degrades the stability of the levitation control,decreases the ride comfort,and restricts the construction cost of maglev system.Firstly,a minimum model containing a flexible bridge and a single levitation unit is presented.Based on the simplified model,the principle underlying the self-excited vibration is explored.After investigations about the energy transmission between the levitation system and bridge,it is concluded that the increment of modal damping can dissipate the accumulated energy by the bridge and the self-excited vibration may be avoided.To enlarge the equivalent modal damping of bridge,the sky-hooked damper is adopted.Furthermore,to avoid the hardware addition of real sky-hooked damper,considering the fact that the electromagnet itself is an excellent actuator that is capable of providing sufficiently fast and large force acting on the bridge to emulate the influence of the real sky-hooked damper,the technique of the virtual sky-hooked damper is proposed.The principle underlying the virtual sky-hooked damper by electromagnet is explored and the vertical velocity of bridge is estimated.Finally,numerical and experimental results illustrating the stability improvement of the vehicle-bridge interaction system are provided.

Study on Feasibility of Reusable Rocket Launching Technology by Use of Scramjet and Maglev Technologies

The scramjet and maglev engineering technology development and trends at home and abroad are firstly presented in this paper. A new launch mode of space transportation system is proposed based on scramjet and magnetic suspension technologies, and its key technologies required are given. This paper also makes analysis on using scramjet and magnetic suspension technologies to launch a reusable rocket, and the results show that a normal temperature conductor maglev launch system is feasible.

曲线导轨上高速磁浮列车运动稳定性

研究了高速磁浮列车在定常气动荷载作用下曲线上的运动稳定性。建立了考虑气动荷载影响的高速磁浮车在曲线导轨上的动力学模型,经过特征值分析提出了磁浮车的临界速度概念,分析了临界状态时车速、控制参数、气动系数对高速磁浮车曲线导轨上的临界速度影响。结果表明:当系统达到临界状态时,它有两个临界速度。在临界状态条件,位移控制参数由20000 kN/m降为2000 kN/m,气动系数从0.05降为0.01,第一类临界速度变大。第一个临界速度出现特征值的实部为零而虚部不为零,第二个临界速度出现在特征值的实部和虚部都为零。失稳是由于偏离平衡位置引起的,位置由曲线导轨特征和侧风荷载产生。气动升力和向心的风荷载会提高稳定性;气动降力和离心的风荷载会降低稳定性;水平角可与向心力配合,竖直角允许设置的范围小。

电磁悬浮型高速磁浮车-岔垂向动力响应

从车辆构造特点出发,建立电磁悬浮(EMS)型高速磁浮车辆悬浮架、悬浮电磁铁链式结构动力学模型,并引入基于状态观测器的悬浮控制算法。结合反映道岔结构特征及动力特性的有限元模型,建立车-岔系统动力响应分析模型。仿真结果表明,所提出精细化模型的数值模拟结果与实测数据较为接近。在此基础上,开展了单节和多节编组列车在静悬以及低速和高速通过道岔等多种工况下的仿真试验,分析了不同影响因素下高速磁浮车-岔系统振动特征。仿真和实测结果表明,明确车-岔-悬浮控制之间的参数匹配关系是揭示车-岔相互作用机理的前提和关键。

轨道梁参数随机的磁悬浮列车-轨道梁系统概率密度演化分析

为研究轨道梁随机参数对磁悬浮系统动力响应的影响,建立磁悬浮车辆-控制器-轨道梁时变随机动力分析模型,考虑轨道梁弹性模量、质量密度和阻尼比的随机性,采用数论选点法构造S维代表点集,运用Voronoi区域剖分概率空间并赋予点集初始概率,进而建立响应的概率密度演化方程。采用Newmark-β法和带TVD(total variation diminishing)格式的双边差分法求解概率密度函数、标准差、均值和满足99.75%概率保证率的响应最大值。首先采用文献结果和随机模拟法验证了模型的计算精度和效率,然后研究轨道梁随机参数和车速对车桥动力响应的影响。结果表明:基于概率密度演化理论的随机模型高效准确,与随机模拟法相比计算效率提高1~2个数量级;考虑轨道梁随机参数影响的车桥响应呈现明显的随机演化特征,响应的敏感程度为:轨道梁跨中加速度>轨道梁跨中位移>车体位移>电磁悬浮力;车桥随机响应受车速影响较大;随机弹性模量对车辆竖向振动有主导作用,随机阻尼比和质量密度的影响很小但不容忽略。

考虑剩磁作用的中低速磁浮电磁力分析

为了探究悬浮电磁铁剩磁对EMS(electro-magnetic suspension)中低速磁浮列车垂向电磁力的影响,首先,分析了悬浮电磁铁相对磁导率变化规律,并基于等效磁路法建立单电磁铁悬浮模型;其次,根据Jiles-Atherton磁滞理论研究了悬浮电磁铁的极限磁滞回线状态,分析了悬浮电磁铁剩磁的动态作用;最后,通过电磁力台架试验开展垂向电磁力对比验证,并提出了最大化利用电磁效率的措施.研究结果表明:在线圈电流处于0~20 A时,悬浮电磁铁剩磁近似等于常量,垂向电磁力的主要影响因素是线圈电流;在线圈电流处于20~40 A时,悬浮电磁铁达到磁饱和状态,且由于处于极限磁滞状态使得悬浮电磁铁具有最大剩磁作用,最大差值约为1 kN,随着线圈电流进一步增加,悬浮电磁铁相对磁导率的降低使得剩磁作用逐渐减弱.

基于列车-桥梁耦合振动模型的高温超导磁浮车辆悬挂参数优化

为提高高温超导磁浮车辆在高速运行下的品质,建立了高温超导磁浮列车-桥梁耦合振动模型,分析了桥梁刚度和车辆悬挂参数匹配对车辆系统动力学性能的影响。并通过叠加轨道不平顺谱实现桥梁预拱,分析车辆系统的动力学响应。结果表明:高温超导磁浮车辆在高速运行下,其平稳性对减振器阻尼和桥梁挠跨比的取值较敏感;桥梁挠跨比取1/7752、桥梁挠度取4.1 mm、桥梁预拱量取4 mm时能抵消车辆高速运行过程中桥梁下挠带来的线路不平顺,使车辆动力学性能达到最优。

中低速磁浮列车滑模自抗扰悬浮控制算法

由于磁浮列车各悬浮架相互独立,任何一个悬浮控制点产生故障将导致整个悬浮架向失效一侧倾斜,造成列车运行事故。为此提出一种滑模自抗扰的悬浮控制方案以进一步提升悬浮控制器的带宽、鲁棒性和容错性。在获取间隙数据时融合了电涡流传感器的低频数据和加速度传感器的高频数据,并加入有效性判断,将不同传感器性能互补。在控制器的输出项中增加加速度微分项以检测磁浮列车的向心加速度,避免悬浮架在坡道与竖曲线过渡处撞击轨道,但直接求解微分会使系统不稳定,所以采用最速控制综合函数实现列车加速度微分项的获取。自抗扰控制器中扩张状态观测器会采集悬浮间隙信号,并观测到悬浮架的悬浮间隙、悬浮架的垂向速度和悬浮电磁铁的电流值,即使在加速度传感器和电流传感器同时失效的情况下,磁浮列车依靠扩张状态观测器观测到的数据也能实现稳定悬浮。通过李雅普诺夫稳定性判据证明了滑模自抗扰悬浮控制算法稳定性,经过MATLAB/Simulink仿真和实车试验,验证了算法的可行性。该悬浮控制算法确保磁浮列车在运行过程中遇到多种传感器同时失效的情况下不失稳,将磁浮列车悬浮控制器用到的所有传感器特性发挥出来,最大程度保障列车上乘客的安全及车载设备的正常运行。

基于预先补偿和全状态反馈控制的车-轨耦合振动抑制

以高速磁浮列车为研究对象,探讨了弹性轨道下的车-轨耦合振动问题。建立了能反映实际问题的车-轨耦合最小悬浮单元模型,并进行了开环系统稳定性和耦合振动机理分析。以弥补比例-积分-微分(PID)控制器有效信息利用不足为出发点,设计了基于预先补偿的全状态反馈控制器。通过仿真分析了反馈增益矩阵对系统跟踪性能和振动抑制能力的影响,提出了适当降低对悬浮间隙的要求换取振动抑制能力提升的思路。进一步分析了反馈系数对悬浮系统性能的影响规律,基于此得到了优化的预先补偿和全状态反馈控制框架。最后,通过实验验证了基于预先补偿的全状态反馈控制对抑制车-轨弹性耦合振动的有效性。

中低速磁浮车辆空气弹簧动力学建模及其应用研究

建立合理的适用于中低速磁浮车辆的空气弹簧动力学模型是预测中低速磁浮车辆动力学性能的必要条件。基于振动力学与弹性力学基本原理,建立了中低速磁浮车辆空气弹簧系统非线性动力学模型,依据测试结果辨识了系统参数,试验验证了模型的准确性,并结合线路动态测试结果对比了线性模型与非线性模型的差异。结果表明:空气弹簧在±70 mm有效行程范围内,其垂向载荷‑内压‑位移之间呈三次函数关系,行程大于70 mm时,载荷‑位移呈线性关系;磁浮车辆空气弹簧横向刚度极大,可以分段线性近似表示;直线线路车辆速度大于30 km/h以及曲线线路半径小于100 m时,线性模型计算结果偏差较大,非线性模型计算精度显著高于等效线性模型。研究结果可为中低速磁浮车辆设计、动力性能预测提供理论依据。