Damping adjusting method, device and equipment for anti-snakelike shock absorber and storage medium

Abstract

The invention discloses a damping adjusting method, device and equipment of an anti-snake-shaped shock absorber and a storage medium, belongs to the field of train shock absorption, and aims to consider that other disturbed quantities except the anti-snake-shaped shock absorber can be regarded as a whole (sum uncertainty) in relative head shaking angle information of a bogie. Therefore, the method comprises the following steps: firstly, determining a dynamic differential relational expression of the relative head shaking angle information of the bogie about the damping coefficient of the anti-serpentine damper and the sum uncertainty, and then determining a sum uncertainty estimator (used for outputting a sum uncertainty estimated value) of the bogie; according to the method, the target damping coefficient of the anti-snakelike damper can be determined based on the dynamic differential relation on the basis of the total uncertainty estimated value and the measured value of the relative head shaking angle information, so that the damping coefficient is dynamically adjusted, the method can adapt to complex and changeable operation conditions, and the transverse stability and riding comfort of a train are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of train damping, in particular to a damping adjustment method, device, equipment and storage medium of anti-snaking damper. BACKGROUND

[0002] With the rapid development of high-speed railway technology, the continuous improvement of train running speed leads to the increasingly prominent problem of bogie snaking. In the traditional design framework, anti-snaking dampers with fixed damping coefficients are installed between the car body and the bogie to attenuate the bogie snaking movement. However, the anti-snaking dampers with fixed damping coefficients are difficult to cope with complex and changeable operating conditions, resulting in poor lateral stability and ride comfort of the train.

[0003] Therefore, how to provide a solution to the above technical problems is a problem that those skilled in the art need to solve at present. SUMMARY

[0004] The purpose of the present application is to provide a damping adjustment method, device, equipment and storage medium of anti-snaking damper. First, the dynamic differential relationship of the relative yaw angle information of the bogie with respect to the damping coefficient of the anti-snaking damper and the total uncertainty is determined. Then, the total uncertainty estimator of the bogie (for outputting the total uncertainty estimation value) is determined. On the basis of the total uncertainty estimation value and the measured value of the relative yaw angle information, the target damping coefficient of the anti-snaking damper can be determined based on the dynamic differential relationship, so as to realize the dynamic adjustment of the damping coefficient, adapt to complex and changeable operating conditions, and improve the lateral stability and ride comfort of the train.

[0005] To solve the above technical problems, the present application provides a damping adjustment method of anti-snaking damper, comprising:

[0006] For any bogie in the train car body model with double bogies, the dynamic differential relationship of the relative yaw angle information of the bogie with respect to the damping coefficient of the anti-snaking damper and the total uncertainty is determined. The total uncertainty is the overall disturbed quantity of the relative yaw angle information except the anti-snaking damper.

[0007] According to the dynamic differential relationship and the estimated value of the relative yaw angle information of the bogie, a total uncertainty estimator of the bogie is determined.

[0008] Based on the dynamic differential relationship, the estimated value of the total uncertainty output by the total uncertainty estimator and the measured value of the relative yaw angle information are used to determine the target damping coefficient of the anti-snaking damper, so as to serve as the damping coefficient of the anti-snaking damper.

[0009] In another aspect, the dynamic differential relationship of the relative yaw angle information of the bogie with respect to the damping coefficient of the anti-snake shock absorber and the total uncertainty includes:

[0010] ;

[0011] wherein each parameter in the dynamic differential relationship belongs to a real number set, is a second derivative of the relative yaw angle information of the front bogie, is a second derivative of the relative yaw angle information of the rear bogie, is a damping coefficient of the anti-snake shock absorber of the front bogie, is a damping coefficient of the anti-snake shock absorber of the rear bogie, is a gain amplification coefficient of the damping coefficient of the anti-snake shock absorber of the front bogie to the relative yaw angle information of the front bogie, is a gain amplification coefficient of the damping coefficient of the anti-snake shock absorber of the rear bogie to the relative yaw angle information of the front bogie, is a gain amplification coefficient of the damping coefficient of the anti-snake shock absorber of the front bogie to the relative yaw angle information of the rear bogie, is a gain amplification coefficient of the damping coefficient of the anti-snake shock absorber of the rear bogie to the relative yaw angle information of the rear bogie, is a total uncertainty in the second dynamic differential relationship of the relative yaw angle information of the front bogie, is a total uncertainty in the second dynamic differential relationship of the relative yaw angle information of the rear bogie.

[0012] In another aspect, each gain amplification coefficient in the dynamic differential relationship includes:

[0013] ;

[0014] wherein each parameter in the gain amplification coefficient belongs to a real number set, is a first derivative of the relative yaw angle information of the front bogie, is a first derivative of the relative yaw angle information of the rear bogie, is a yaw moment of inertia of the car body, is a yaw moment of inertia of the bogie, and l is half of the lateral distance between the two ends of the bogie.

[0015] In another aspect, the total uncertainty estimator of the front bogie includes:

[0016] ;

[0017] The total uncertainty estimator of the rear bogie includes:

[0018] ;

[0019] wherein, is a relative swing angle information of the front bogie, is an estimated value of the relative swing angle information of the front bogie, is an estimated value of a first derivative of the relative swing angle information of the front bogie, is an estimated value of the sum uncertainty of the front bogie, is a first derivative of the estimated value of the relative swing angle information of the front bogie, is a first derivative of the estimated value of the first derivative of the relative swing angle information of the front bogie, is a first derivative of the estimated value of the sum uncertainty of the front bogie, is a first adjustable parameter of the sum uncertainty estimator of the front bogie, is a second adjustable parameter of the sum uncertainty estimator of the front bogie, is a third adjustable parameter of the sum uncertainty estimator of the front bogie; is a relative swing angle information of the rear bogie, is an estimated value of the relative swing angle information of the rear bogie, is an estimated value of a first derivative of the relative swing angle information of the rear bogie, is an estimated value of the sum uncertainty of the rear bogie, is a first derivative of the estimated value of the relative swing angle information of the rear bogie, is a first derivative of the estimated value of the first derivative of the relative swing angle information of the rear bogie, is a first derivative of the estimated value of the sum uncertainty of the relative swing angle information of the rear bogie, is a first adjustable parameter of the sum uncertainty estimator of the rear bogie, is a second adjustable parameter of the sum uncertainty estimator of the rear bogie, is a third adjustable parameter of the sum uncertainty estimator of the rear bogie.

[0020] On the other hand, the relative swing angle information of the bogie comprises:

[0021] ;

[0022] wherein, is a relative swing angle information of the front bogie, is a displacement of the left end of the front bogie, is a displacement of the right end of the front bogie, is a relative swing angle information of the rear bogie, is a displacement of the left end of the rear bogie, is a displacement of the right end of the rear bogie, Half of the lateral distance between the two ends of the bogie.

[0023] In another aspect, the target damping coefficient of the anti-snaking damper is determined based on the estimated value of the total uncertainty estimated by the total uncertainty estimator and the measured relative yaw angle information according to the dynamic differential relationship, so as to be included as the damping coefficient of the anti-snaking damper:

[0024] At the end of an integral interval, a first integral evaluation index and a second integral evaluation index in the integral interval are determined; the first integral evaluation index is an integral evaluation index of the estimated value of the total uncertainty estimated by the total uncertainty estimator, and the second integral evaluation index is an integral evaluation index of the measured value of the relative yaw angle information;

[0025] The target damping coefficient of the anti-snaking damper of the bogie is determined according to the first integral evaluation index and the second integral evaluation index in the integral interval, so as to be included as the damping coefficient of the anti-snaking damper.

[0026] In another aspect, the target damping coefficient of the anti-snaking damper of the bogie is determined according to the first integral evaluation index and the second integral evaluation index in the integral interval, so as to be included as the damping coefficient of the anti-snaking damper.

[0027] Based on the nominal value of the damping coefficient of the anti-snaking damper, the first integral evaluation index and the second integral evaluation index in the integral interval are combined to determine the target damping coefficient of the anti-snaking damper of the bogie through the damping coefficient integral relationship;

[0028] The damping coefficient integral relationship includes:

[0029] ;

[0030] Wherein, The nominal value of the damping coefficient of the anti-snaking damper of the bogie, The integral evaluation index of the relative yaw angle information of the front bogie, The integral evaluation index of the relative yaw angle information of the rear bogie, The integral evaluation index of the total uncertainty of the front bogie, The integral evaluation index of the total uncertainty of the rear bogie, The first integral feedback coefficient of the damping coefficient of the anti-snaking damper of the bogie, The second integral feedback coefficient of the damping coefficient of the anti-snaking damper of the bogie.

[0031] To solve the above technical problems, the present application further provides a damping adjustment device of an anti-snaking damper, which comprises:

[0032] The first determining module is configured to determine a dynamic differential relationship between the relative yaw angle information of the bogie and the damping coefficient of the anti-yaw damper and a total uncertainty for any bogie in the train body model with double bogies.

[0033] The second determining module is configured to determine a total uncertainty estimator of the bogie according to the dynamic differential relationship and an estimated value of the relative yaw angle information of the bogie.

[0034] The third determining module is configured to determine a target damping coefficient of the anti-yaw damper according to the estimated value of the total uncertainty output by the total uncertainty estimator and a measured value of the relative yaw angle information based on the dynamic differential relationship, so as to serve as the damping coefficient of the anti-yaw damper.

[0035] To solve the above technical problem, the present application further provides an anti-yaw damper damping adjustment device, comprising:

[0036] The memory is configured to store the computer program.

[0037] The processor is configured to implement the steps of the anti-yaw damper damping adjustment method when the computer program is executed.

[0038] To solve the above technical problem, the present application further provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the anti-yaw damper damping adjustment method.

[0039] Beneficial effects: The present application provides an anti-yaw damper damping adjustment method, which considers that other disturbed quantities except the anti-yaw damper in the relative yaw angle information of the bogie can be regarded as a whole (total uncertainty). Therefore, the present application firstly determines a dynamic differential relationship between the relative yaw angle information of the bogie and the damping coefficient of the anti-yaw damper and the total uncertainty, then determines a total uncertainty estimator of the bogie (for outputting an estimated value of the total uncertainty), and finally determines a target damping coefficient of the anti-yaw damper based on the dynamic differential relationship on the basis of the estimated value of the total uncertainty and a measured value of the relative yaw angle information, so as to realize dynamic adjustment of the damping coefficient, adapt to complex and changeable operation conditions, and improve the lateral stability and ride comfort of the train.

[0040] The present application further provides an anti-yaw damper damping adjustment device, equipment and storage medium, which have the same beneficial effects as the anti-yaw damper damping adjustment method. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the related technical and the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor based on these drawings.

[0042] Figure 1 A flowchart of a damping adjustment method of an anti-snake shock absorber provided by the present application;

[0043] Figure 2 A principle diagram of relative head angle information provided by the present application;

[0044] Figure 3 A flowchart of another damping adjustment method of an anti-snake shock absorber provided by the present application;

[0045] Figure 4 A structural diagram of a damping adjustment device of an anti-snake shock absorber provided by the present application;

[0046] Figure 5 A structural diagram of a damping adjustment device of an anti-snake shock absorber provided by the present application. DETAILED DESCRIPTION

[0047] The core of the present application is to provide a damping adjustment method, device and equipment of an anti-snake shock absorber and a storage medium. Firstly, a dynamic differential relationship of a relative head angle information of a bogie about a damping coefficient of an anti-snake shock absorber and a total uncertainty is determined, then a total uncertainty estimator of the bogie (used to output a total uncertainty estimation value) is determined, and on the basis of the total uncertainty estimation value and a measured value of the relative head angle information, the target damping coefficient of the anti-snake shock absorber can be determined based on the dynamic differential relationship, so as to realize dynamic adjustment of the damping coefficient, adapt to complex and changeable operation conditions, and improve the lateral stability and riding comfort of the train.

[0048] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0049] Please refer to Figure 1 , Figure 1 A flowchart of a damping adjustment method of an anti-snake shock absorber provided by the present application, the damping adjustment method of the anti-snake shock absorber comprises:

[0050] S101: determining a dynamic differential relationship of the relative yaw angle information of the bogie with respect to the damping coefficient of the anti-yaw damper and the total uncertainty for any bogie in the train body model with double bogies; the total uncertainty is the overall disturbed quantity of the relative yaw angle information except for the anti-yaw damper;

[0051] Specifically, considering the technical problems in the background art, and also considering that even in the case of low accuracy of the train body model, the relative yaw angle information of the bogie can be regarded as the comprehensive influence result of the anti-yaw damper and the total uncertainty, so as to construct the dynamic differential relationship of the relative yaw angle information of the bogie with respect to the damping coefficient of the anti-yaw damper and the total uncertainty, and on this basis, if the total uncertainty can be estimated and the relative yaw angle information of the bogie can be measured, the ideal damping coefficient of the anti-yaw damper can be inferred, therefore, according to this idea in the embodiment of the present application, firstly, the dynamic differential relationship of the relative yaw angle information of the bogie with respect to the damping coefficient of the anti-yaw damper and the total uncertainty can be determined for any bogie in the train body model with double bogies, so as to serve as the data basis for the subsequent steps.

[0052] S102: determining the total uncertainty estimator of the bogie according to the dynamic differential relationship and the estimated value of the relative yaw angle information of the bogie;

[0053] Specifically, in the dynamic differential relationship, the relative yaw angle information of the bogie can be actually collected except for the damping coefficient of the anti-yaw damper, if the estimated value of the total uncertainty can be known, the ideal damping coefficient of the anti-yaw damper can be inferred, and if the estimated value of the relative yaw angle information can be known, the total uncertainty of the bogie can be estimated, therefore, in this step, the total uncertainty estimator of the bogie can be determined according to the dynamic differential relationship and the estimated value of the relative yaw angle information of the bogie, so as to serve as the data basis for the subsequent steps.

[0054] S103: determining the target damping coefficient of the anti-yaw damper according to the estimated value of the total uncertainty output by the total uncertainty estimator and the measured value of the relative yaw angle information based on the dynamic differential relationship, so as to serve as the damping coefficient of the anti-yaw damper.

[0055] Specifically, based on the above concept, after having the summation uncertainty estimator, the estimation value of the summation uncertainty in the dynamic differential relationship of the bogie can be obtained through the summation uncertainty estimator, and the measured value of the relative head angle information can be obtained through the measurement, and then the target damping coefficient of the anti-snake shock absorber can be determined in combination with the dynamic differential relationship, so that the target damping coefficient of the anti-snake shock absorber can be determined as the damping coefficient of the anti-snake shock absorber based on the dynamic differential relationship according to the estimation value of the summation uncertainty output by the summation uncertainty estimator and the measured value of the relative head angle information.

[0056] The present application provides a damping adjustment method of an anti-snake shock absorber, considering that other disturbed quantities except the anti-snake shock absorber in the relative head angle information of the bogie can be regarded as a whole (summation uncertainty), so the present application first determines the dynamic differential relationship of the relative head angle information of the bogie about the damping coefficient of the anti-snake shock absorber and the summation uncertainty, and then determines the summation uncertainty estimator of the bogie (for outputting the estimation value of the summation uncertainty), and based on the estimation value of the summation uncertainty and the measured value of the relative head angle information, the target damping coefficient of the anti-snake shock absorber can be determined based on the dynamic differential relationship, so as to realize the dynamic adjustment of the damping coefficient, adapt to complex and changeable operating conditions, and improve the lateral stability and ride comfort of the train.

[0057] On the basis of the above embodiment:

[0058] As an optional embodiment, the relative head angle information of the bogie comprises:

[0059] ;

[0060] Among them, is the relative head angle information of the front bogie, is the displacement of the left end of the front bogie, is the displacement of the right end of the front bogie, is the relative head angle information of the rear bogie, is the displacement of the left end of the rear bogie, is the displacement of the right end of the rear bogie, is half of the lateral distance between the two ends of the bogie.

[0061] Specifically, in order to better illustrate the embodiments of the present application, please refer to Figure 2 , Figure 2A principle schematic view of relative swing angle information provided by the present application, the train body model in the figure is provided with a front bogie and a rear bogie, the determination logic of the relative swing angle information of the bogie provided by the embodiment of the present application can be understood in combination with the figure, it is considered that the relative swing angle information is a core parameter reflecting the hunting motion of the bogie, but cannot be directly measured, and can be indirectly calculated through the measurable physical quantity (displacement at both ends of the bogie), therefore, the determination mode of the relative swing angle information based on the displacement data is designed, the abstract relative swing angle information can be converted into the physical quantity that can be measured through the displacement sensor, the parameter acquisition difficulty is reduced, and the measurable basic data is provided for subsequent dynamic differential relationship establishment and summation uncertainty estimation.

[0062] Of course, in addition to the specific mode, the determination mode of the relative swing angle information can also be other types, which are not limited by the embodiment of the present application.

[0063] As an optional embodiment, the dynamic differential relationship of the relative swing angle information of the bogie about the damping coefficient of the anti-hunting shock absorber and the summation uncertainty includes:

[0064] ;

[0065] Wherein, each parameter in the dynamic differential relationship belongs to a real number set, is a second-order derivative of the relative swing angle information of the front bogie, is a second-order derivative of the relative swing angle information of the rear bogie, is a damping coefficient of the anti-hunting shock absorber of the front bogie, is a damping coefficient of the anti-hunting shock absorber of the rear bogie, is a gain amplification coefficient of the damping coefficient of the anti-hunting shock absorber of the front bogie to the relative swing angle information of the front bogie, is a gain amplification coefficient of the damping coefficient of the anti-hunting shock absorber of the rear bogie to the relative swing angle information of the front bogie, is a gain amplification coefficient of the damping coefficient of the anti-hunting shock absorber of the front bogie to the relative swing angle information of the rear bogie, is a gain amplification coefficient of the damping coefficient of the anti-hunting shock absorber of the rear bogie to the relative swing angle information of the rear bogie, is a summation uncertainty in the second-order dynamic differential relationship of the relative swing angle information of the front bogie, is a summation uncertainty in the second-order dynamic differential relationship of the relative swing angle information of the rear bogie.

[0066] Specifically, the dynamic differential relationship in the embodiment of the present application can quantitatively describe the correlation between the second-order derivative of the relative swing angle information and the damping coefficient of the anti-snaking damper and the total uncertainty, provide a mathematical basis for the subsequent design of the total uncertainty estimator and the calculation of the target damping coefficient, and avoid the situation that the adjustment logic cannot be implemented due to the ambiguous variable relationship, so that the specific dynamic differential relationship is set, the quantitative relationship of the key parameters (damping coefficient, total uncertainty, and second-order derivative of relative swing angle information) is determined, the subsequent steps of total uncertainty estimation and damping adjustment have accurate mathematical basis, and the operability and accuracy of the entire adjustment method are improved.

[0067] Of course, in addition to the specific form, the dynamic differential relationship of the relative swing angle information of the bogie with respect to the damping coefficient of the anti-snaking damper and the total uncertainty can also have other specific forms, which are not limited in the embodiment of the present application.

[0068] As an optional embodiment, each gain amplification coefficient in the dynamic differential relationship includes:

[0069] ;

[0070] Wherein, each parameter in the gain amplification coefficient belongs to the real number set, is the first-order derivative of the relative swing angle information of the front bogie, is the first-order derivative of the relative swing angle information of the rear bogie, is the swing rotational inertia of the car body, is the swing rotational inertia of the bogie, and l is half of the lateral spacing between the two ends of the bogie.

[0071] Specifically, considering that the gain amplification coefficient in the dynamic differential relationship directly affects the action strength of the damping coefficient on the second-order derivative of the relative swing angle information, if the coefficient cannot be quantitatively calculated, the effect of the damping adjustment will be uncontrollable, therefore, in the embodiment of the present application, a specific determination method is designed based on the rotational inertia of the car body and the bogie and the first-order derivative of the relative swing angle information. A clear determination basis is provided for the gain amplification coefficient, so that the change of the damping coefficient can affect the dynamic characteristics of the relative swing angle information as expected, the over-adjustment or under-adjustment caused by the ambiguous coefficient is avoided, and the accuracy of the damping adjustment is improved.

[0072] Of course, in addition to the above specific form, each gain amplification coefficient in the dynamic differential relationship can also have other specific forms, which are not limited in the embodiment of the present application.

[0073] As an optional embodiment, the total uncertainty estimator of the front bogie includes:

[0074] ;

[0075] The rear bogie total uncertainty estimator comprises:

[0076]

[0077] wherein, is the relative yaw angle information of the front bogie, is an estimated value of the relative yaw angle information of the front bogie, is an estimated value of the first derivative of the relative yaw angle information of the front bogie, is an estimated value of the total uncertainty of the front bogie, is the first derivative of the estimated value of the relative yaw angle information of the front bogie, is the first derivative of the estimated value of the first derivative of the relative yaw angle information of the front bogie, is the first derivative of the estimated value of the total uncertainty of the front bogie, is a first adjustable parameter of the total uncertainty estimator of the front bogie, is a second adjustable parameter of the total uncertainty estimator of the front bogie, is a third adjustable parameter of the total uncertainty estimator of the front bogie; is the relative yaw angle information of the rear bogie, is an estimated value of the relative yaw angle information of the rear bogie, is an estimated value of the first derivative of the relative yaw angle information of the rear bogie, is an estimated value of the total uncertainty of the rear bogie, is the first derivative of the estimated value of the relative yaw angle information of the rear bogie, is the first derivative of the estimated value of the first derivative of the relative yaw angle information of the rear bogie, is the first derivative of the estimated value of the total uncertainty of the relative yaw angle information of the rear bogie, is a first adjustable parameter of the total uncertainty estimator of the rear bogie, is a second adjustable parameter of the total uncertainty estimator of the rear bogie, is a third adjustable parameter of the total uncertainty estimator of the rear bogie.

[0078] ​Specifically, considering that the train bogie system has wheel-rail contact nonlinearity, suspension element aging and other unmodeled dynamics, these dynamics will affect the change of the relative head angle information in the form of the total uncertainty, if the total uncertainty cannot be estimated, the damping adjustment will not be able to cope with the train body model deviation, therefore, a total uncertainty estimator for the front and rear bogies needs to be designed, the total uncertainty estimator in the embodiment of the present application can estimate the total uncertainty in real time and actively, eliminate the interference of unmodeled dynamics on the damping adjustment, and ensure that the damping coefficient can be accurately adjusted even in the case of model mismatch, thereby improving the robustness of the method.

[0079] Of course, in addition to this specific form, the total uncertainty estimators for the front and rear bogies can also have other specific forms, which are not limited in the embodiment of the present application.

[0080] As an optional embodiment, based on the dynamic differential relationship, the target damping coefficient of the anti-snaking damper is determined according to the estimated value of the total uncertainty output by the total uncertainty estimator and the measured relative head angle information, so as to be included as the damping coefficient of the anti-snaking damper.

[0081] At the end of an integral interval, a first integral evaluation index and a second integral evaluation index in the integral interval are determined; the first integral evaluation index is an integral evaluation index of the estimated value of the total uncertainty output by the total uncertainty estimator, and the second integral evaluation index is an integral evaluation index of the measured value of the relative head angle information.

[0082] According to the first integral evaluation index and the second integral evaluation index in the integral interval, the target damping coefficient of the anti-snaking damper of the bogie is determined, so as to be included as the damping coefficient of the anti-snaking damper.

[0083] Specifically, considering that the damping coefficient is determined based on instantaneous values (such as real-time relative head angle information and real-time total uncertainty), it is easy to be affected by working condition fluctuations (such as instantaneous track irregularities), which leads to frequent fluctuations of the damping adjustment and cannot balance dynamic response and steady-state accuracy, therefore, in the embodiment of the present application, the adjustment is performed based on integral evaluation indexes in a period of time, which can reflect the trend of the hunting motion and the uncertainty change in a period of time, avoid instantaneous fluctuation interference, make the damping adjustment more stable, and balance the dynamic response speed and the steady-state comfort.

[0084] The length of the integral interval can be flexibly set, for example, it can be 1s, and the embodiment of the present application is not limited thereto.

[0085] As an optional embodiment, according to the first integral evaluation index and the second integral evaluation index in the integral interval, the target damping coefficient of the anti-snaking damper of the bogie is determined, so as to be included as the damping coefficient of the anti-snaking damper.

[0086] The target damping coefficient of the anti-snaking damper of the bogie is determined by a damping coefficient integral relationship formula, based on a nominal value of a damping coefficient of the anti-snaking damper, in combination with a first integral evaluation index and a second integral evaluation index in an integral interval.

[0087] The damping coefficient integral relationship formula comprises:

[0088] ;

[0089] Wherein, is a nominal value of a damping coefficient of the anti-snaking damper of the bogie, is an integral evaluation index of the relative yaw angle information of the front bogie, is an integral evaluation index of the relative yaw angle information of the rear bogie, is an integral evaluation index of the total uncertainty of the front bogie, is an integral evaluation index of the total uncertainty of the rear bogie, is a first integral feedback coefficient of the damping coefficient of the anti-snaking damper of the bogie, is a second integral feedback coefficient of the damping coefficient of the anti-snaking damper of the bogie.

[0090] Specifically, in order to better illustrate the embodiments of the present application, please refer to Figure 3 , Figure 3 is a flowchart of another damping adjustment method of the anti-snaking damper provided by the present application, based on the relative yaw angle information of the front and rear bogies, the integral evaluation index can be calculated, and based on the "total uncertainty estimator of the front and rear bogies" in combination with the "relative yaw angle information of the front and rear bogies", the integral evaluation index of the total uncertainty of the front and rear bogies can be calculated, and then the two types of integral evaluation indexes are multiplied by the corresponding integral feedback coefficients, and added to the nominal value of the damping coefficient to obtain the target damping coefficient, so as to realize the dynamic adjustment of the damping coefficient of the anti-snaking damper, and the anti-snaking damper can act on the train system to improve the effect of anti-snaking vibration.

[0091] The nominal value of the damping coefficient, the first integral feedback parameter and the second integral feedback parameter are combined with the corresponding integral evaluation index, and then act on the damping coefficient of the anti-snaking damper, and then input into the train system, and the train system outputs the relative yaw angle information of the front and rear bogies, which is input into the total uncertainty estimator of the front and rear bogies, and the output result of the estimator is used to calculate the integral evaluation index, forming a cycle.

[0092] Specifically, the damping coefficient integral relationship formula in the embodiment of the present application contains a nominal value and an integral feedback coefficient, can quantitatively associate the integral evaluation index with the target damping coefficient, avoids the adjustment logic from relying only on qualitative judgment, causes the damping change range to be uncontrollable, clearly defines the adjustment range of the integral evaluation index on the damping coefficient, ensures that the damping change is quantifiable and predictable, and at the same time guarantees the basic damping performance through the nominal value and flexibly adapts different working conditions through the feedback parameter.

[0093] Each integral evaluation index includes:

[0094] ;

[0095] ;

[0096] ;

[0097] ;

[0098] Wherein, t is the running time of the train system, T s is the integral interval length.

[0099] Of course, in addition to this specific form, the integral evaluation index and the damping coefficient integral relationship formula can also be other specific forms, which are not limited in the embodiment of the present application.

[0100] Please refer to Figure 4 , Figure 4 A damping adjustment device of an anti-snaking shock absorber provided by the present application, which includes:

[0101] The first determination module 41 is configured to determine, for any bogie in a train body model with double bogies, a dynamic differential relationship of the relative yaw angle information of the bogie with respect to the damping coefficient of the anti-snaking shock absorber and the total uncertainty; the total uncertainty is the overall disturbed quantity of the relative yaw angle information except for the anti-snaking shock absorber;

[0102] The second determination module 42 is configured to determine, according to the dynamic differential relationship and the estimated value of the relative yaw angle information of the bogie, the total uncertainty estimator of the bogie.

[0103] The third determination module 43 is configured to determine, based on the dynamic differential relationship, the estimated value of the total uncertainty output by the total uncertainty estimator and the measured value of the relative yaw angle information, the target damping coefficient of the anti-snaking shock absorber, so as to take it as the damping coefficient of the anti-snaking shock absorber.

[0104] For the anti-snake damper damping adjustment device provided by the embodiment of the present application, please refer to the foregoing anti-snake damper damping adjustment method, and the embodiment of the present application will not be described here.

[0105] For the anti-snake damper damping adjustment device provided by the embodiment of the present application, please refer to the foregoing anti-snake damper damping adjustment method, and the embodiment of the present application will not be described here. Figure 5 Figure 5 For the anti-snake damper damping adjustment device provided by the embodiment of the present application, please refer to the foregoing anti-snake damper damping adjustment method, and the embodiment of the present application will not be described here.

[0106] The memory 51 is configured to store a computer program.

[0107] The processor 52 is configured to execute the computer program to implement the steps of the anti-snake damper damping adjustment method in the foregoing embodiments.

[0108] For the anti-snake damper damping adjustment device provided by the embodiment of the present application, please refer to the foregoing anti-snake damper damping adjustment method, and the embodiment of the present application will not be described here.

[0109] The present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the anti-snake damper damping adjustment method in the foregoing embodiments.

[0110] For the anti-snake damper damping adjustment device provided by the embodiment of the present application, please refer to the foregoing anti-snake damper damping adjustment method, and the embodiment of the present application will not be described here.

[0111] The embodiments in the present specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts of each embodiment can be referred to each other. For the device disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the related parts can be referred to the method part. It should be noted that, in the present specification, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitation, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or equipment including the element.

[0112] ​The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to persons of skill in the art, and that the appended claims are intended to cover all such modifications that do not depart from the true spirit and scope of the application. Therefore, the application is not limited to the embodiments shown but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A damping adjustment method for an anti-serpentine vibration damper, characterized in that, include: For any bogie in a train body model with two bogies, determine the dynamic differential relationship between the relative yaw angle information of the bogie and the damping coefficient of the anti-snake damper and the total uncertainty; the total uncertainty is: the overall disturbance of the relative yaw angle information excluding the anti-snake damper; Based on the dynamic differential relationship and the estimated value of the bogie's relative yaw angle, a total uncertainty estimator for the bogie is determined; Based on the dynamic differential relationship, the target damping coefficient of the anti-snake vibration damper is determined according to the estimated value of the sum uncertainty output by the sum uncertainty estimator and the measured value of the relative head-up angle information, so as to use it as the damping coefficient of the anti-snake vibration damper.

2. The damping adjustment method for the anti-serpentine vibration damper according to claim 1, characterized in that, The dynamic differential relationship between the relative yaw angle information of the bogie and the damping coefficient of the anti-snake damper and the total uncertainty includes: ； In this dynamic differential equation, all parameters belong to the set of real numbers. The second derivative of the relative yaw angle information of the front bogie. The second derivative of the relative yaw angle information of the rear bogie. This refers to the damping coefficient of the front bogie anti-hunting damper. The damping coefficient of the rear bogie anti-hunting damper. This is the gain amplification factor for the information from the damping coefficient of the front bogie anti-hunting damper to the relative yaw angle of the front bogie. The gain amplification factor for the relative yaw angle information from the damping coefficient of the rear bogie anti-hunting damper to the front bogie. This is the gain amplification factor for the information from the damping coefficient of the front bogie's anti-hunting damper to the relative yaw angle of the rear bogie. The gain amplification factor for the information from the damping coefficient of the rear bogie anti-hunting damper to the relative yaw angle of the rear bogie. The summation uncertainty in the second-order dynamic differential equation for the relative yaw angle information of the front bogie is... The summation uncertainty in the second-order dynamic differential relation of the relative yaw angle information of the rear bogie is given.

3. The damping adjustment method for the anti-serpentine vibration damper according to claim 2, characterized in that, The gain amplification factors in the dynamic differential equation include: ； Among them, all parameters in the gain amplification factor belong to the set of real numbers. The first derivative of the relative yaw angle information of the front bogie. The first derivative of the relative yaw angle information of the rear bogie. Let the moment of inertia of the vehicle body's yaw motion be... Let l be the yaw moment of inertia of the bogie, and l be half the lateral distance between the two ends of the bogie.

4. The damping adjustment method for the anti-serpentine vibration damper according to claim 2, characterized in that, The total uncertainty estimator for the front bogie includes: ； The total uncertainty estimator for the rear bogie includes: ； in, This refers to the relative yaw angle information of the front bogie. This is an estimate of the relative yaw angle of the front bogie. This is an estimate of the first derivative of the relative yaw angle information of the front bogie. This is an estimate of the total uncertainty of the front bogie. The first derivative of the estimated value of the relative yaw angle information of the front bogie. The first derivative of the estimated value of the first derivative of the relative yaw angle information of the front bogie. Let be the first derivative of the estimate of the total uncertainty of the front bogie. The first adjustable parameter of the summation uncertainty estimator for the front bogie is... This is the second adjustable parameter of the summation uncertainty estimator for the front bogie. The third adjustable parameter is the summation uncertainty estimator for the front bogie; This refers to the relative yaw angle information of the rear bogie. This is an estimate of the relative yaw angle of the rear bogie. This is an estimate of the first derivative of the relative yaw angle information of the rear bogie. This is an estimate of the total uncertainty of the rear bogie. The first derivative of the estimated value of the relative yaw angle information of the rear bogie. The first derivative of the estimated value of the first derivative of the relative yaw angle information of the rear bogie. The first derivative of the estimate of the sum of the relative yaw angle information of the rear bogie is given. The first adjustable parameter for the total uncertainty estimator of the rear bogie is... This is the second adjustable parameter for the total uncertainty estimator of the rear bogie. It is the third adjustable parameter of the summation uncertainty estimator for the rear bogie.

5. The damping adjustment method for the anti-serpentine vibration damper according to claim 1, characterized in that, The relative yaw angle information of the bogie includes: ； in, This refers to the relative yaw angle information of the front bogie. This represents the displacement of the left end of the front bogie. This represents the displacement of the right end of the front bogie. This refers to the relative yaw angle information of the rear bogie. This refers to the displacement of the left end of the rear bogie. This refers to the displacement of the right end of the rear bogie. It is half the lateral spacing between the two ends of the bogie.

6. The damping adjustment method for the anti-hunting vibration damper according to any one of claims 1 to 5, characterized in that, The process of determining the target damping coefficient of the anti-hunting vibration damper based on the dynamic differential relationship, the estimated value of the summation uncertainty output by the summation uncertainty estimator, and the measured relative yaw angle information, so as to use it as the damping coefficient of the anti-hunting vibration damper, includes: At the end of an integration interval, the first integration evaluation index and the second integration evaluation index within the integration interval are determined; the first integration evaluation index is the integration evaluation index of the summation uncertainty estimate output by the summation uncertainty estimator, and the second integration evaluation index is the integration evaluation index of the measured value of the relative head-down angle information. Based on the first and second integral evaluation indices within the integral interval, the target damping coefficient of the bogie's anti-hunting damper is determined so that it can be used as the damping coefficient of the anti-hunting damper.

7. The damping adjustment method for the anti-serpentine vibration damper according to claim 6, characterized in that, The determination of the target damping coefficient of the bogie's anti-snake-like shock absorber based on the first integral evaluation index and the second integral evaluation index within the integral interval includes: Based on the nominal value of the damping coefficient of the anti-snake damper, and combined with the first and second integral evaluation indices within the integral interval, the target damping coefficient of the anti-snake damper of the bogie is determined through the integral relationship of the damping coefficient. The integral formula for the damping coefficient includes: ； in, This is the nominal value of the damping coefficient of the bogie anti-hunting damper. It is an integral evaluation index for the relative yaw angle information of the front bogie. It is an integral evaluation index for the relative yaw angle information of the rear bogie. The integral evaluation index for the total uncertainty of the front bogie. The integral evaluation index for the total uncertainty of the rear bogie. This is the first integral feedback coefficient of the damping coefficient of the bogie anti-hunting damper. The second integral feedback coefficient is the damping coefficient of the bogie anti-hunting damper.

8. A damping adjustment device for an anti-snake-like vibration damper, characterized in that, include: The first determining module is used to determine the dynamic differential relationship between the relative yaw angle information of any bogie in the train body model with dual bogies and the damping coefficient of the anti-snake damper and the total uncertainty; the total uncertainty is: the overall disturbance of the relative yaw angle information excluding the anti-snake damper. The second determining module is used to determine the total uncertainty estimator of the bogie based on the dynamic differential relation and the estimated value of the relative yaw angle information of the bogie; The third determining module is used to determine the target damping coefficient of the anti-snake vibration damper based on the dynamic differential relationship, the estimated value of the summation uncertainty output by the summation uncertainty estimator, and the measured value of the relative head-up angle information, so as to use it as the damping coefficient of the anti-snake vibration damper.

9. A damping adjustment device for an anti-snake-like vibration damper, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the damping adjustment method for the anti-snake damper as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the damping adjustment method for the anti-snake vibration damper as described in any one of claims 1 to 7.

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