A pivot-type active control dynamic vibration absorber for suppressing hunting of rail vehicles

Abstract

The present invention relates to a pivotally connected active control dynamic vibration absorber for suppressing the swaying of a rail vehicle, which is arranged in pairs on the chassis at the front and rear ends of the vehicle body, and includes a signal acquisition system, a control system and a vibration reduction system. The vibration reduction system includes a vibration absorbing mass block, an open linear bearing, a bearing inner ring fixing rod, a bearing outer ring fixing rod, a damper, a damper mounting seat and a damper hinge pin seat. The actuator is connected to the two dampers respectively through the damper mounting seat; the two dampers are hinged to the bearing inner ring fixing rod and the bearing outer ring fixing rod respectively through the damper hinge pin seat; one end of the vibration absorbing mass block is connected to the bearing outer ring fixing rod, and the other end is installed on the bottom of the vehicle body through the open linear bearing and the bearing inner ring fixing rod. Compared with the prior art, the present invention can make the damping force act in multiple directions of the lateral displacement, head shaking and side rolling modal vibration of the vehicle body, and cleverly and effectively suppress the swaying of the vehicle body, thereby improving the vehicle running stability and riding comfort.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit vibration absorption, and in particular to a pivot-type active control dynamic vibration absorber for suppressing the hunting of rail vehicles. Background Art

[0002] With the rapid development of rail transit, the running speed, load and departure frequency of high-speed trains have increased significantly, and the vehicle vibration problem has become increasingly prominent. Low-frequency hunting is a common abnormal vibration phenomenon of railway vehicles, which poses a great threat to the running stability and riding comfort of trains.

[0003] The frequency of low-frequency hunting belongs to the sensitive frequency range of the human body, resulting in a poor riding experience for passengers and a significant reduction in comfort. There are many factors leading to hunting, such as the performance evolution of key vehicle components, wheel-rail wear, and external crosswind excitation. At present, there is no unified theory on the formation mechanism of low-frequency hunting, nor a fixed treatment method. Using the active control method to suppress the low-frequency hunting of rail vehicles has its unique advantages. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects existing in the prior art and provide a pivot-type active control dynamic vibration absorber for suppressing the hunting of rail vehicles, which exerts a multi-directional suppression effect on the lateral translation, roll and yaw movements of the car body through the pivot-type rotational vibration absorption method between the vibration absorption mass block and the inner ring of the bearing.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A pivot-type active control dynamic vibration absorber for suppressing the hunting of rail vehicles, the dynamic vibration absorbers are arranged in pairs, and each pair of dynamic vibration absorbers is respectively installed on the underframe at the front end and the rear end of the car body.

[0007] Further, the dynamic vibration absorber includes a signal acquisition system, a control system and a vibration damping system, and the control system is respectively connected to the signal acquisition system and the vibration damping system.

[0008] Further, the signal acquisition system includes a side vibration sensor set, a middle vibration sensor set and a signal processor. The side vibration sensor set is located on the floor above the bogie of the car body and laterally offset from the center of the car body, and is used to measure the real-time vertical vibration acceleration on the side of the car body; the middle vibration sensor set is located in the middle of the car body plate and is used to measure the real-time lateral vibration acceleration in the middle of the car body; the signal processor is respectively connected to the side vibration sensor set and the middle vibration sensor set, and is used to receive the acceleration information and perform index calculation.

[0009] Further, both the side vibration sensor set and the middle vibration sensor set include a plurality of vibration sensors.

[0010] Furthermore, the control system is installed on the controller of the vehicle body and the actuator installed at the bottom of the vehicle body. The controller is connected to the signal processor, and according to the real-time indexes calculated by the signal processor, it adopts the skyhook modal control and skyhook damping control algorithms to calculate the required active force to be applied, and changes the damping force through the vibration damping system.

[0011] Furthermore, the vibration damping system includes a vibration absorption mass block, an open-type linear bearing, an inner ring fixing rod of the bearing, an outer ring fixing rod of the bearing, a damper, a damper mounting seat and a damper hinge pin seat. The open-type linear bearing is connected to the vehicle body floor through the inner ring fixing rod of the bearing. The number of the dampers, the damper mounting seats and the damper hinge pin seats is two. The actuator is respectively connected to the two dampers through the damper mounting seats and applies an active force to the dampers. The two dampers are respectively hinged to the inner ring fixing rod and the outer ring fixing rod of the bearing through the damper hinge pin seats. One end of the vibration absorption mass block is connected to the outer ring fixing rod of the bearing, and the other end is installed at the bottom of the vehicle body through the open-type linear bearing and the inner ring fixing rod of the bearing.

[0012] Furthermore, the vibration absorption mass block and the open-type linear bearing directly adopt the hinged connection mode of the two dampers to realize the pivotal rotation vibration absorption mode, and multi-directional suppression is implemented on the lateral translation, roll and yaw motions of the vehicle body.

[0013] Furthermore, the control process of the controller includes:

[0014] The controller preset thresholds for the maximum amplitude of lateral vibration, the maximum amplitude of vertical vibration, the comfort threshold, the lateral ride quality threshold and the vertical ride quality threshold;

[0015] The controller obtains in real time the real-time indexes calculated by the signal processor according to the vertical vibration acceleration and lateral vibration acceleration of the vehicle body;

[0016] The controller compares the obtained index results with the corresponding preset thresholds. If the preset thresholds are not reached, it controls the actuator not to apply additional force. If any index reaches the preset threshold, it controls the actuator to work, and the actuator provides additional damping force to the damper to suppress the shaking of the vehicle body.

[0017] Furthermore, the controller calculates the acceleration and modal velocity of different modes of the vehicle body according to the skyhook modal principle, thereby sets the gain coefficient according to the skyhook damping principle to obtain the corresponding modal damping force, and synthesizes the actual output force of the actuator according to the modal damping force.

[0018] Furthermore, the corresponding modal velocity is obtained by integrating the acceleration of different modes of the vehicle body.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] (1) In the pivot - type active control dynamic vibration absorber provided by the present invention, two dampers are hinged to the inner - ring fixing rod of the open - type linear bearing and the outer - ring fixing rod of the bearing through damper hinge pin seats, realizing the pivot - type rotational vibration absorption mode between the vibration - absorption mass block and the inner ring of the bearing. This can make the acting direction of the damper more flexible, exert a multi - direction suppression effect on the lateral translation, roll, and yaw motions of the vehicle body, and achieve a better control effect.

[0021] (2) Since the inner - ring fixing rod of the vibration absorber bearing is rigidly connected to the bottom of the vehicle body and there is a pivot rotation between the vibration - absorption mass block and the inner ring of the bearing, the damping force applied to the inner and outer rings of the bearing can directly act on the vehicle body, and the relative conversion efficiency of the output force is relatively high.

[0022] (3) The control system can calculate different modal accelerations and modal velocities according to the sky - hook modal principle based on the real - time operating conditions of the vehicle, set the gain coefficient according to the sky - hook damping principle to obtain the corresponding modal damping force, and then the vibration - reduction system synthesizes the modal damping force into the actual output force of the actuator, which has high control real - time performance. Description of the Drawings

[0023] Figure 1 It is a schematic diagram of the overall structure of a pivot - type active control dynamic vibration absorber for suppressing the hunting of rail vehicles provided in the embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of the connection structure of a damper and an actuator provided in the embodiment of the present invention;

[0025] Figure 3 It is a schematic diagram of the sensor measuring point positions and the installation positions of the dynamic vibration absorber provided in the embodiment of the present invention;

[0026] Figure 4 It is a schematic diagram of the control method flow of a pivot - type active control dynamic vibration absorber provided in the embodiment of the present invention;

[0027] In the figure, 1. Side vibration sensor set, 2. Middle vibration sensor set, 3. Controller, 4. Vehicle body, 5. Actuator, 6. Damper, 7. Damper hinge pin seat, 8. Damper mounting seat, 9. Inner - ring fixing rod of the bearing, 10. Outer - ring fixing rod of the bearing, 11. Open - type linear bearing, 12. Vibration - absorption mass block. Detailed Embodiments

[0028] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0030] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0031] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0032] It should be noted that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality" means two or more unless otherwise specifically defined.

[0033] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0034] Embodiment 1

[0035] Such as Figure 1 And Figure 2As shown in the figure, this embodiment provides a pivot - type active control dynamic vibration absorber for suppressing the hunting of rail vehicles. The dynamic vibration absorbers are arranged in pairs, and each pair of dynamic vibration absorbers is respectively installed on the underframes at the front and rear ends of the car body.

[0036] Each dynamic vibration absorber includes a signal acquisition system, a control system, and a vibration damping system. The control system is respectively connected to the signal acquisition system and the vibration damping system.

[0037] The signal acquisition system includes a side vibration sensor set 1, a middle vibration sensor set 2, and a signal processor. The side vibration sensor set 1 is located on the floor above the bogie of the car body, laterally offset from the center of the car body by 1 m. It is used to measure the real - time vertical vibration acceleration on the side of the car body, specifically located on the floor 1 m laterally offset from the center of the car body above the bogie.

[0038] The middle vibration sensor set 2 is located in the middle of the car body plate and is used to measure the real - time lateral vibration acceleration in the middle of the car body. The signal processor is respectively connected to the side vibration sensor set 1 and the middle vibration sensor set 2, and is used to receive the acceleration information and perform index calculation.

[0039] Both the side vibration sensor set 1 and the middle vibration sensor set 2 include multiple vibration sensors.

[0040] The control system is installed with a controller 3 on the car body and an actuator 5 at the bottom of the car body. The controller 3 is connected to the signal processor. According to the real - time index calculated by the signal processor, it adopts the sky - hook modal control and sky - hook damping control algorithms to calculate the required active force and change the damping force through the vibration damping system. The actuator is located at the bottom of the car body and can control the output force of the damper.

[0041] The vibration damping system includes a vibration absorption mass block 12, an open - type linear bearing 11, an inner - ring fixing rod 9 of the bearing, an outer - ring fixing rod 10 of the bearing, a damper 6, a damper mounting seat 8, and a damper hinge pin seat 7. The open - type linear bearing 11 is connected to the car body floor through the inner - ring fixing rod 9 of the bearing. The number of the damper 6, the damper mounting seat 8, and the damper hinge pin seat 7 is two. The actuator 5 is respectively connected to the two dampers 6 through the damper mounting seat 8 and applies an active force to the damper 6. The two dampers 6 are respectively hinged to the inner - ring fixing rod 9 of the bearing and the outer - ring fixing rod 10 of the bearing through the damper hinge pin seat 7. One end of the vibration absorption mass block 12 is connected to the outer - ring fixing rod 10 of the bearing, and the other end is installed at the bottom of the car body through the open - type linear bearing 11 and the inner - ring fixing rod 9 of the bearing.

[0042] The assembly scheme of the above - mentioned dynamic vibration absorber is as follows:

[0043] a. The side vibration sensor set 1 is installed on the floor 1 m laterally offset from the center of the car body above the bogie, the middle vibration sensor set 2 is installed in the middle of the car body plate, and the controller 3 is installed on the car body 4.

[0044] b. The vibration absorption mass is fixed to the bottom of the vehicle body through an open-type linear bearing and an inner ring fixing rod of the bearing.

[0045] c. The actuator is connected to two dampers.

[0046] d. The two dampers are respectively hinged to the inner ring fixing rod of the bearing and the outer ring fixing rod of the bearing.

[0047] As Figure 2 shown, the actuator is connected to the two dampers through two damper mounting seats, and the two dampers are hinged to the inner and outer fixing rods of the bearing through damper hinge pin seats. Therefore, the pivotal rotational vibration absorption method between the vibration absorption mass and the inner ring of the bearing can exert a multi-directional inhibitory effect on the lateral movement, roll and yaw movement of the vehicle body, with better control effect and can effectively suppress the vehicle body swaying.

[0048] The control process of the controller 3 includes:

[0049] In the controller 3, there are preset thresholds for the maximum amplitude of lateral vibration, the maximum amplitude of vertical vibration, the comfort threshold, the lateral ride quality threshold and the vertical ride quality threshold;

[0050] The controller 3 obtains in real time the real-time indexes calculated by the signal processor according to the vertical vibration acceleration and lateral vibration acceleration of the vehicle body;

[0051] The controller 3 compares the obtained index results with the corresponding preset thresholds. If the preset thresholds are not reached, it controls the actuator 5 not to apply additional force; if any index reaches the preset threshold, it controls the actuator 5 to work, and the actuator 5 provides additional damping force to the damper 6 to suppress the swaying of the vehicle body;

[0052] The controller 3 calculates the acceleration and modal velocity of different modes of the vehicle body according to the skyhook modal principle, and thus sets the gain coefficient according to the skyhook damping principle to obtain the corresponding modal damping force, and synthesizes the actual output force of the actuator according to the modal damping force.

[0053] As Figure 3 shown, a specific side sensor setting provided in this embodiment is shown, where S1 and S2 represent the front and rear ride quality measurement points (side sensor measurement points), S3 is the symmetric point of the rear ride quality measurement point (side sensor measurement point), and C1, C2, and C3 represent the comfort measurement points (middle sensor measurement points), and it can be obtained that:

[0054]

[0055] In the formula: is the lateral acceleration of the vehicle body centroid, is the roll angular acceleration of the vehicle body centroid, Yaw angular acceleration of the vehicle body centroid is the nodding acceleration, h is the vertical distance from the vehicle body centroid to the ride comfort measurement point on the floor surface, and L x is the longitudinal distance from the ride comfort measurement point to the center of the vehicle body floor surface, and L y is the lateral distance (1 m) from the ride comfort measurement point to the center of the vehicle body floor surface; a 1y is the lateral acceleration of ride comfort measurement point S1, and a 2y is the lateral acceleration of ride comfort measurement point S2, and a 2z is the vertical acceleration of ride comfort measurement point S2, and a 3z is the vertical acceleration of the symmetric point S3 of ride comfort measurement point S2.

[0056] From Equation (1), the vibration accelerations of the three modes of vehicle body lateral translation, yaw, and roll can be calculated in sequence as follows:

[0057]

[0058]

[0059]

[0060] Integrating the modal acceleration signal gives the modal velocity. According to the skyhook damping principle, the gain coefficient can be set to obtain the corresponding modal damping force.

[0061] In the controller, thresholds are preset, including the threshold Ay for the maximum lateral vibration amplitude, the threshold Az for the maximum vertical vibration amplitude, the comfort threshold C, the lateral ride comfort threshold Sy, and the vertical ride comfort threshold Sz.

[0062] The specific control method flow of the device in this embodiment includes: as Figure 4 shown, when the vehicle is running, the sensors on the vehicle body detect the vibration acceleration signals on the side and middle of the vehicle body floor in real time, and the signal processor calculates the maximum lateral vibration amplitude, maximum vertical vibration amplitude, comfort, lateral ride comfort, and vertical ride comfort indexes of the vehicle body, and compares them with the set index thresholds in the controller. If it is greater than the set index, a high level is output, and then through an OR logic gate, that is, if any one of the indexes reaches the threshold, the controller will adopt the skyhook modal control method and the skyhook damping control algorithm to calculate the required active control force. The calculation process is as follows:

[0063] First, modal vibration amplitude identification is performed, that is, the accelerations of the three vibration modes (lateral translation, yaw, and roll) of the vehicle body are identified. According to the design of each modal vibration, the optimal skyhook damping coefficient is obtained, and then the damping force for controlling the modal vibration is obtained. Finally, the actuator applies an active force to the damper, which can make the vibration absorption mass block of the vibration reduction system rotate with the inner ring of the bearing under the action of the predetermined damping force, reducing the modal vibration of the vehicle body's lateral translation, yaw, and roll, and suppressing the vehicle body shake.

[0064] The pivoting connection between the vibration absorption mass and the car body (the car body is fixed to the inner ring of the bearing) can act in multiple directions of the lateral translation, yawing, and rolling mode vibrations of the car body, skillfully and effectively suppressing the swaying of the car body and improving the running stability and riding comfort of the vehicle. In addition, if all the calculated indicators do not reach the threshold, the damper can adjust the damping force by itself, which is the passive adjustment state.

[0065] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present invention through logical analysis, reasoning, or limited experiments based on the concept of the present invention on the basis of the prior art should fall within the protection scope determined by the claims.

Claims

1. A pivot - type active control dynamic vibration absorber for suppressing the hunting of rail vehicles, characterized in that, The dynamic vibration absorbers are arranged in pairs, and each pair of dynamic vibration absorbers is respectively installed on the underframe at the front end and the rear end of the vehicle body; The dynamic vibration absorber includes a signal acquisition system, a control system and a vibration damping system, and the control system is respectively connected to the signal acquisition system and the vibration damping system; The signal acquisition system includes a side vibration sensor set (1), a middle vibration sensor set (2) and a signal processor. The side vibration sensor set (1) is located on the floor of the vehicle body above the bogie and laterally offset from the center of the vehicle body, and is used to measure the real-time vertical vibration acceleration of the side of the vehicle body; the middle vibration sensor set (2) is located in the middle of the vehicle body plate and is used to measure the real-time lateral vibration acceleration of the middle of the vehicle body; the signal processor is respectively connected to the side vibration sensor set (1) and the middle vibration sensor set (2) and is used to receive the acceleration information and perform index calculation; The vibration damping system includes a vibration absorption mass block (12), an open-type linear bearing (11), an inner ring fixing rod (9) of the bearing, an outer ring fixing rod (10) of the bearing, a damper (6), a damper mounting seat (8) and a damper hinge pin seat (7). The open-type linear bearing (11) is connected to the vehicle body floor through the inner ring fixing rod (9) of the bearing. The number of the damper (6), the damper mounting seat (8) and the damper hinge pin seat (7) is two. The actuator (5) is respectively connected to the two dampers (6) through the damper mounting seat (8) and applies an active force to the damper (6); the two dampers (6) are respectively hinged to the inner ring fixing rod (9) of the bearing and the outer ring fixing rod (10) of the bearing through the damper hinge pin seat (7); one end of the vibration absorption mass block (12) is connected to the outer ring fixing rod (10) of the bearing, and the other end is installed at the bottom of the vehicle body through the open-type linear bearing (11) and the inner ring fixing rod (9) of the bearing.

2. A pivotally connected active control dynamic vibration absorber for suppressing hunting of rail vehicles according to claim 1, wherein, Both the side vibration sensor set (1) and the middle vibration sensor set (2) include a plurality of vibration sensors.

3. A pivotal active control dynamic vibration absorber for suppressing the hunting of rail vehicles according to claim 1, characterized in that, The control system is installed with a controller (3) on the vehicle body and an actuator (5) installed at the bottom of the vehicle body. The controller (3) is connected to the signal processor, and adopts a skyhook modal control and a skyhook damping control algorithm according to the real-time index calculated by the signal processor to calculate the required active force to be applied, and changes the damping force through the vibration damping system.

4. A pivotally-connected active control dynamic vibration absorber for suppressing hunting of rail vehicles according to claim 1, characterized in that, The vibration absorption mass block (12) and the open-type linear bearing (11) directly adopt the hinge connection mode of the two dampers (6) to realize the pivot-type rotational vibration absorption mode, and multi-directional suppression is implemented on the lateral displacement, roll and yaw motions of the vehicle body.

5. A pivotal active control dynamic vibration absorber for suppressing hunting of rail vehicles according to claim 1, characterized in that, The control process of the controller (3) includes: In the controller (3), a threshold value of the maximum lateral vibration amplitude, a threshold value of the maximum vertical vibration amplitude, a comfort threshold value, a lateral ride quality threshold value and a vertical ride quality threshold value are preset; The controller (3) obtains in real time the real-time index calculated by the signal processor according to the vertical vibration acceleration and the lateral vibration acceleration of the vehicle body; The controller (3) compares the obtained index results with the corresponding preset thresholds. If the preset thresholds are not reached, the actuator (5) is controlled not to apply additional force. If any index reaches the preset threshold, the actuator (5) is controlled to work, and the actuator (5) provides additional damping force to the damper (6) to suppress the swaying of the vehicle body.

6. The pivotal active control dynamic vibration absorber for suppressing the hunting of rail vehicles according to claim 5, characterized in that, The controller (3) calculates the acceleration and modal velocity of different vehicle body modes according to the skyhook modal principle, thereby setting the gain coefficient according to the skyhook damping principle to obtain the corresponding modal damping force, and synthesizing the actual output force of the actuator according to the modal damping force.

7. A pivotal active control dynamic vibration absorber for suppressing hunting of rail vehicles according to claim 6, characterized in that, Integrate the acceleration of different vehicle body modes to obtain the corresponding modal velocity.

Images