Active control vibration absorption system and method for suppressing diamond mode hunting of rail vehicles

Abstract

The present invention relates to an active control vibration absorption system for suppressing the diamond mode chatter of rail vehicles, which includes a signal acquisition and processing system, a control system, and an actuator system. The signal acquisition and processing system includes three-axis acceleration sensors and a signal processor installed on the undercarriage equipment and the car body. The signal processor processes the acceleration information to obtain the index result and the phase information between the car body and the undercarriage equipment. The control system monitors the index result and calculates the required damping force according to the acceleration and phase information. The actuator system includes an actuator, an actuator hinge seat, a damper, a damper hinge seat, a linkage crossbar, and a telescopic linkage rod. The actuator changes the damping force output by the damper according to the damping force calculated by the controller to suppress the diamond mode chatter of the rail vehicle. Compared with the prior art, the present invention can change the roll frequency and phase of the existing undercarriage equipment to reduce the abnormal chatter of the car body in the diamond mode, and improve the running stability and riding comfort of the vehicle without adding additional vibration absorption mass.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit vibration absorption, and in particular to an active control vibration absorption system and method for suppressing diamond mode shaking of rail vehicles. Background Art

[0002] With the rapid development of the rail transit industry, high-speed rail has become an important mode of transportation for people. At the same time, people's requirements for the running speed, running safety and running stability of EMU trains are constantly increasing. During the long-term service of EMU trains, due to the continuous increase in running speed, wheel-rail wear, undercarriage equipment disturbance, suspension parameter matching and other problems, the risk of vehicle running quality deterioration has increased, and the problem of diamond mode shaking of some vehicles has gradually been exposed. The diamond mode shaking problem of vehicles is a common abnormal elastic vibration problem of the vehicle body, which needs to be solved urgently. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide an active control vibration absorption system and method for suppressing the diamond modal shaking of rail vehicles.

[0004] On the premise of ensuring operational safety, people are working hard to improve vehicle running stability and ride comfort. If the rolling frequency of the undercarriage equipment is the same as the diamond frequency of the vehicle body under the action of external forces, and the vibration between them is in a strictly anti-phase relationship, the diamond mode shaking of the vehicle body will be significantly suppressed.

[0005] To this end, the appropriate damping force can be calculated and applied based on the vibration acceleration phase information between the vehicle body and the undercarriage equipment, and the undercarriage equipment can be used to change the vehicle body vibration state without adding additional mass to suppress the diamond mode shaking. Since the passive control shock absorber damping force direction adjustment is limited, the semi-active control shock absorber control effect is limited, and the active control method controls the rolling frequency of the undercarriage equipment in real time, which is a more ideal method. Therefore, the proposed active control vibration absorption method for suppressing the diamond mode shaking of rail vehicles is of great significance.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] An active control vibration absorption system for suppressing diamond mode shaking of rail vehicles comprises a signal acquisition and processing system, a control system and an actuation system, wherein the control system is respectively connected to the signal acquisition and processing system and the actuation system.

[0008] Furthermore, the signal acquisition and processing system includes:

[0009] A first vehicle body acceleration sensor located on the floor above the first bogie and offset to a lateral side of the center of the vehicle body;

[0010] A second vehicle body acceleration sensor located on the floor of the vehicle body above the second bogie and laterally offset from the center of the vehicle body, the first vehicle body acceleration sensor and the second vehicle body acceleration sensor being diagonally distributed on the floor for ride index analysis;

[0011] A vehicle body floor center acceleration sensor located in the middle of the vehicle body floor for comfort index analysis;

[0012] A first under-vehicle equipment phase identification acceleration sensor and a second under-vehicle equipment phase identification acceleration sensor located at both ends of the under-vehicle equipment;

[0013] A first vehicle body floor phase identification acceleration sensor and a second vehicle body floor phase identification acceleration sensor located on both sides of the vehicle body floor, the first vehicle body floor phase identification acceleration sensor and the second vehicle body floor phase identification acceleration sensor respectively corresponding to the first under-vehicle equipment phase identification acceleration sensor and the second under-vehicle equipment phase identification acceleration sensor in the vertical position direction for obtaining the phase relationship between the roll motion of the under-vehicle equipment and the diamond mode vibration of the vehicle body;

[0014] Signal processors respectively connected to each sensor in the signal acquisition and processing system for receiving acceleration information and performing index calculation.

[0015] Further, the actuation system includes an actuator, an actuator hinge seat, a damper, a damper hinge seat, a linkage cross bar and a telescopic linkage rod. The actuator is connected to the vehicle body through the actuator hinge seat, the damper is connected to the under-vehicle equipment through the damper hinge seat. The number of the actuators and the dampers is multiple, and they are respectively located on both sides of the under-vehicle equipment. The actuators and the dampers are connected in one-to-one correspondence. The actuators on the same side are connected through the linkage cross bar, and the actuators on both sides are connected through the telescopic linkage rod.

[0016] Further, a clearance fit is adopted between the linkage cross bar and the telescopic linkage rod, and they are relatively rotatably connected. The vehicle body is connected to the under-vehicle equipment through the actuation system.

[0017] Further, the control system includes a controller, which is used to receive the index information transmitted by the signal processor and perform real-time monitoring and judgment. If any one of the indexes reaches the corresponding preset threshold, the magnitude and direction of the applied damping force are determined according to the phase relationship between the roll motion of the under-vehicle equipment and the diamond mode vibration of the vehicle body, and the actuation system is driven.

[0018] Further, the controller controls the roll frequency of the underbody equipment to be consistent with the diamond mode frequency of the car body according to the phase relationship between the roll motion of the underbody equipment and the diamond mode vibration of the car body, and makes the roll motion of the underbody equipment act in antiphase with the diamond mode vibration of the car body, so as to determine the magnitude and direction of the applied damping force and suppress the diamond mode chatter of the car body.

[0019] Further, the controller is located in the middle of the car body panel.

[0020] The present invention also provides a control method for an active control vibration absorption system for suppressing the diamond mode chatter of a rail vehicle as described above, including the following steps:

[0021] 1) Preset the thresholds of the maximum lateral vibration amplitude, the maximum vertical vibration amplitude, the comfort threshold, the lateral ride quality threshold, the vertical ride quality threshold, and the phase difference between the car body and the underbody equipment;

[0022] 2) Calculate the corresponding indexes according to the real-time acceleration information obtained by each acceleration sensor in the signal acquisition and processing system;

[0023] 3) Compare the calculated results of the indexes with the preset thresholds. If no index reaches the corresponding preset threshold, the actuator does not apply additional force; if there is an index reaching the corresponding preset threshold, control the actuator to work to provide additional damping force for the damper, and control the roll frequency of the underbody equipment to be consistent with the diamond mode frequency of the car body through the damping force, and make the roll motion of the underbody equipment act in antiphase with the diamond mode vibration of the car body.

[0024] Further, the diamond mode frequency of the car body is obtained by constructing the system modal vibration transfer function of the active control vibration absorption system;

[0025] The calculation expression of the system modal vibration transfer function is:

[0026]

[0027] In the formula, H R (ω) is the system modal vibration transfer function, ω is the circular frequency, ω 0 is the diamond mode frequency of the car body, J 1 is the roll moment of inertia of the car body; L is the length of the car body; J 2 is the roll moment of inertia of the underbody equipment; θ 2 is the roll angle of the underbody equipment; G is the shear elastic modulus of the car body floor; I is the moment of inertia; K 2 is the suspension stiffness of the underbody equipment; a 2 is the suspension span of the underbody equipment in the direction of the linkage rod; R 1 is the roll angle of the car body.

[0028] Furthermore, by controlling the operation of the actuator, the calculation expression for providing additional damping force to the damper is:

[0029]

[0030] In the formula, F T is the output force of the actuating system, c is the damping adjustment coefficient, It represents the functional relationship of the damping force determined by the phase between the rolling of the equipment under the vehicle and the diamond mode vibration of the vehicle body, F max It is the maximum output force of the actuator system.

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] (1) No need for additional vibration-absorbing mass: The present invention uses local materials and existing under-vehicle equipment of the vehicle to control the diamond modal vibration of the vehicle by setting an actuation system thereon.

[0033] (2) Good real-time vibration control: The present invention adopts active control to obtain the real-time operating status of the vehicle based on multiple acceleration sensors installed on the vehicle body and under-vehicle equipment, actively adjust the damping force, and effectively suppress diamond mode vehicle shaking in real time.

[0034] (3) The vibration suppression method is simple: the present invention obtains the phase relationship between the rolling motion of the under-vehicle equipment and the diamond modal vibration of the vehicle body by respectively arranging corresponding phase recognition acceleration sensors in the vertical direction on the vehicle body floor and the under-vehicle equipment. The actuators and dampers distributed on both sides of the under-vehicle equipment in the actuation system are used to control the rolling frequency of the under-vehicle equipment to be the same as the diamond modal vibration frequency of the vehicle body, and to have opposite phases. This can provide a reference for the modal vibration control method of similar two-degree-of-freedom structures.

[0035] (4) Wide range of applications. This active vibration absorption method can be applied to vibration control of various rail transit vehicle systems, such as high-speed passenger cars, trams, subways, freight trains, etc. Similarly, it can also be extended to tire-road transportation vehicle systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall structure of an active control vibration absorption system for suppressing diamond mode shaking of a rail vehicle provided in an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of the structure of the actuating system and the under-vehicle equipment in the vibration absorption system provided in an embodiment of the present invention;

[0038] Figure 3 A schematic diagram of the connection structure of the actuator and the damper in the vibration absorption system provided by an embodiment of the present invention;

[0039] Figure 4Schematic diagram of the installation position of the body diamond mode and the actuation system of the present device provided in the embodiments of the present invention;

[0040] Figure 5 Schematic diagram of the vibration absorption principle of an actuation system provided in the embodiments of the present invention;

[0041] Figure 6 Closed-loop simplified diagram of the active control process of an active control vibration absorption system for suppressing the diamond mode shimmy of rail vehicles provided in the embodiments of the present invention;

[0042] In the figure, 1. First body acceleration sensor, 2. Controller, 3. Signal processor, 4. Second body acceleration sensor, 5. Body, 6. Actuator hinge seat, 7. Actuator, 8. First under-carriage equipment phase recognition acceleration sensor, 9. Damper hinge seat, 10. Damper, 11. Under-carriage equipment, 12. Telescopic linkage rod, 13. Second under-carriage equipment phase recognition acceleration sensor, 14. Linkage cross bar, 15. Body floor center acceleration sensor, 16. First body floor phase recognition acceleration sensor, 17. Second body floor phase recognition acceleration sensor. Detailed implementation manners

[0043] 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. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Generally, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying 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.

[0045] It should be noted that: Similar reference numerals and letters denote similar 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.

[0046] 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 inventive product is customarily 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 on the present invention.

[0047] It should be noted that the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.

[0048] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging vertically, but may 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 may be slightly inclined.

[0049] Embodiment 1

[0050] As Figure 1 shown, this embodiment provides an active control vibration absorption system for suppressing the diamond mode hunting of rail vehicles, including a signal acquisition and processing system, a control system, and an actuation system. The control system is respectively connected to the signal acquisition and processing system and the actuation system.

[0051] Specifically, the signal acquisition and processing system includes: a first vehicle body acceleration sensor 1, a second vehicle body acceleration sensor 4, a vehicle body floor center acceleration sensor 15, a first vehicle body floor phase recognition acceleration sensor 16, a second vehicle body floor phase recognition acceleration sensor 17, a first under-vehicle equipment phase recognition acceleration sensor 8, a second under-vehicle equipment phase recognition acceleration sensor 13, and a signal processor 3;

[0052] The first vehicle body acceleration sensor 1 is located on the floor above the first bogie, laterally offset from the center of the vehicle body to one side. The second vehicle body acceleration sensor 4 is located on the floor above the second bogie, laterally offset from the center of the vehicle body to one side, and is diagonally distributed with the first vehicle body acceleration sensor 1, mainly used for the analysis of ride quality indicators. The vehicle body floor center acceleration sensor 15 is located in the middle of the vehicle body floor, mainly used for comfort analysis. The first under-vehicle equipment phase identification acceleration sensor 8 and the second under-vehicle equipment phase identification acceleration sensor 13 are located at both ends of the under-vehicle equipment. The first vehicle body floor phase identification acceleration sensor 16 and the second vehicle body floor phase identification acceleration sensor 17 are located on both sides of the vehicle body floor, and are vertically corresponding to the positions of the first under-vehicle equipment phase identification acceleration sensor 8 and the second under-vehicle equipment phase identification acceleration sensor 13. These four sensors are mainly used for analyzing the phase relationship between the roll motion of the under-vehicle equipment and the diamond mode vibration of the vehicle body. The signal processor 3 is used to receive the acceleration information and calculate relevant indicators.

[0053] The control system mainly refers to the controller 2. The controller 2 is located in the middle of the vehicle body board, used to receive various indicator information and conduct real-time monitoring. If any one of the indicators reaches the preset threshold, the controller determines the magnitude and direction of the damping force applied according to the phase relationship between the roll motion of the under-vehicle equipment and the diamond mode vibration of the vehicle body (this direction makes the roll motion of the under-vehicle equipment anti-phase with the diamond mode vibration of the vehicle body).

[0054] As Figure 2 and Figure 3 shown, the actuation system includes an actuator 7, an actuator hinge seat 6, a damper 10, a damper hinge seat 9, a linkage crossbar 14, and a telescopic linkage rod 12. The actuator 7 is connected to the vehicle body through the actuator hinge seat 6, and the damper 10 is connected to the under-vehicle equipment through the damper hinge seat 9. The number of both the actuator 7 and the damper 10 is multiple, and they are respectively located on both sides of the under-vehicle equipment. The actuator 7 and the damper 10 are connected in one-to-one correspondence. The actuators 7 on the same side are connected through the linkage crossbar 14, and the actuators 7 on both sides are connected through the telescopic linkage rod 12 to ensure that the damping force can control the roll frequency of the under-vehicle equipment.

[0055] Optionally, in this embodiment, four connection points are set, and each connection point includes an actuator 7 and a damper 10 connected to each other. The four connection points all adopt the same connection method.

[0056] The schematic diagram of the vehicle body diamond mode and the schematic diagram of the installation position of the actuation system are as Figure 4 shown. The maximum position where the vehicle body diamond mode vibration occurs is in the middle of the vehicle body. Therefore, the actuation system is installed in the middle position of the vehicle body floor, and the diamond mode vibration can be suppressed to the greatest extent by using the roll motion of the equipment.

[0057] The following provides a specific assembly step in this embodiment:

[0058] a. Install the three - axis acceleration sensor Ⅰ1 and the three - axis acceleration sensor Ⅱ4 respectively at a horizontal distance of 1 m above the two bogies of the car body, and they are diagonally distributed; fix the signal processor 3 and the controller 2 at the center of the car floor; install the under - vehicle equipment three - axis acceleration sensor Ⅰ8 and the three - axis acceleration sensor Ⅱ13 at both ends of the under - vehicle equipment; the three - axis acceleration sensor 15 is located in the middle of the car body floor; the three - axis acceleration sensors 16 and 17 are located on both sides of the car body floor, and are vertically corresponding to the positions of sensors 8 and 13.

[0059] b. The actuator hinge seat 6 is fixed to the car body underframe by bolts.

[0060] c. The actuator 7 is hinged to the car body 5 through the actuator hinge seat 6.

[0061] d. The actuator 7 is fixedly connected to the damper 10.

[0062] e. The damper 10 is hinged to the under - vehicle equipment 11 through the damper hinge seat 9.

[0063] f. The damper hinge seat 9 is fixed to the under - vehicle equipment 11 by bolts.

[0064] The control method of the active control vibration absorption system for suppressing the diamond - mode chatter of rail vehicles includes the following steps:

[0065] 1) Preset the threshold of the maximum lateral vibration amplitude, the threshold of the maximum vertical vibration amplitude, the comfort threshold, the lateral ride quality threshold, the vertical ride quality threshold, and the phase difference between the car body and the under - vehicle equipment;

[0066] 2) Calculate the corresponding indexes according to the real - time acceleration information obtained by each acceleration sensor in the signal acquisition and processing system;

[0067] 3) Compare the calculated result of the index with each preset threshold. If no index reaches the corresponding preset threshold, the actuator does not apply additional force; if there is an index reaching the corresponding preset threshold, control the actuator 7 to work, provide additional damping force for the damper 6, and control the roll frequency of the under - vehicle equipment to be consistent with the diamond - mode frequency of the car body through this damping force, and make the roll motion of the under - vehicle equipment act in antiphase with the diamond - mode vibration of the car body.

[0068] The following combines an example to specifically introduce the active control vibration absorption method process for suppressing the diamond - mode chatter of rail vehicles. As Figure 6 shown, first preset the index threshold in the controller, set the threshold Y max of the maximum lateral vibration amplitude, the threshold Z max of the maximum vertical vibration amplitude, the comfort threshold S max of the lateral ride quality threshold Wy , the vertical ride comfort threshold W z and the vibration phase difference between the car body and the equipment under the car thresholds.

[0069] When the vehicle is running, the three-axis acceleration sensors on the car body and the three-axis acceleration sensors on the equipment under the car detect the real-time vibration acceleration signals of the vehicle. Through the signal processor, the maximum lateral vibration amplitude, the maximum vertical vibration amplitude, the comfort, the lateral ride comfort and vertical ride comfort indexes, and the phase difference between the car body and the equipment under the car are calculated, and compared with the set index thresholds in the controller. If it is greater than the set index, a high level is output, and then through the OR logic gate, that is, if any one of the indexes reaches the threshold,

[0070] the controller determines the magnitude and direction of the applied damping force according to the phase relationship between the roll motion of the equipment under the car and the diamond mode vibration of the car body (the principle is: make the roll motion frequency of the equipment under the car the same as the diamond mode frequency ω 0 of the car body, and the vibration phases are opposite). The active control force signal realizes the control of the output force of the damper through the actuator. With the equipment under the car as the vibration absorption mass, the roll frequency and roll motion phase of the equipment under the car are controlled in real time through the active acting force, and the diamond mode vibration of the car body is suppressed, which can effectively improve the running stability and riding comfort of the vehicle.

[0071] The determination process of the diamond mode frequency of the car body includes:

[0072] First, analyze the motion state of the car body floor-equipment under the car system after installing the actuator system. As Figure 5 shown, the kinetic energy T and potential energy U of the system can be given:

[0073]

[0074]

[0075] In the formula, J 1 is the roll moment of inertia of the car body; L is the length of the car body; R(x,t) is the roll angle of the car body floor position, which is related to the floor position coordinate x and time t; J 2 is the roll moment of inertia of the equipment under the car; θ 2 is the roll angle of the equipment under the car; G is the shear elastic modulus of the car body floor; I is the moment of inertia; K 2 is the suspension stiffness of the equipment under the car; a 2 is the suspension span of the equipment under the car in the direction of the linkage rod; R 1 is the roll angle of the car body.

[0076] Let E = T - U, and the Lagrange equation of the system can be obtained as:

[0077]

[0078]

[0079] Combining formulas (1), (2), (3), and (4), the system modal vibration transfer function can be obtained:

[0080]

[0081] where ω is the circular frequency, and ω 0 is the body diamond modal frequency.

[0082] The controller sets the control conditions as:

[0083]

[0084] The full active control force F T can be expressed as:

[0085]

[0086] In the formula: c is the damping adjustment coefficient, represents the functional relationship for determining the damping force based on the phase between the roll of the underbody equipment and the vibration of the body diamond mode, and F max is the maximum output force of the active actuator.

[0087] 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 work. 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. An active control vibration absorption system for suppressing the diamond mode shimmy of rail vehicles, characterized in that, it includes a signal acquisition and processing system, a control system and an actuator system, and the control system is respectively connected to the signal acquisition and processing system and the actuator system; The signal acquisition and processing system includes: A first vehicle body acceleration sensor (1) located on the floor above the first bogie and laterally offset from the center of the vehicle body; A second vehicle body acceleration sensor (4) located on the floor above the second bogie and laterally offset from the center of the vehicle body. The first vehicle body acceleration sensor (1) and the second vehicle body acceleration sensor (4) are diagonally distributed on the floor for ride quality index analysis; A vehicle body floor center acceleration sensor (15) located in the middle of the vehicle body floor for comfort index analysis; A first under-vehicle equipment phase identification acceleration sensor (8) and a second under-vehicle equipment phase identification acceleration sensor (13) located at both ends of the under-vehicle equipment; A first vehicle body floor phase identification acceleration sensor (16) and a second vehicle body floor phase identification acceleration sensor (17) located on both sides of the vehicle body floor. The first vehicle body floor phase identification acceleration sensor (16) and the second vehicle body floor phase identification acceleration sensor (17) are respectively corresponding to the first under-vehicle equipment phase identification acceleration sensor (8) and the second under-vehicle equipment phase identification acceleration sensor (13) in the vertical position direction, and are used to obtain the phase relationship between the roll motion of the under-vehicle equipment and the diamond mode vibration of the vehicle body; A signal processor (3) respectively connected to each sensor in the signal acquisition and processing system, which is used to receive acceleration information and perform index calculation; The actuator system includes an actuator (7), an actuator hinge seat (6), a damper (10), a damper hinge seat (9), a linkage cross bar (14) and a telescopic linkage rod (12). The actuator (7) is connected to the vehicle body through the actuator hinge seat (6), the damper (10) is connected to the under-vehicle equipment through the damper hinge seat (9), the number of the actuators (7) and the dampers (10) is multiple, and they are respectively located on both sides of the under-vehicle equipment. The actuators (7) and the dampers (10) are connected in one-to-one correspondence. The actuators (7) on the same side are connected through the linkage cross bar (14), and the actuators (7) on both sides are connected through the telescopic linkage rod (12).

2. An active control vibration absorption system for suppressing the diamond mode shimmy of rail vehicles according to claim 1, characterized in that, The linkage cross bar (14) and the telescopic linkage rod (12) are in clearance fit and can be rotatably connected relative to each other. The vehicle body is connected to the under-vehicle equipment through the actuator system.

3. An active control vibration absorption system for suppressing the diamond mode shimmy of rail vehicles according to claim 1, characterized in that, The control system includes a controller (2) which is used to receive the index information transmitted by a signal processor (3) and conduct real-time monitoring and judgment. If any one of the indexes reaches the corresponding preset threshold value, the magnitude and direction of the applied damping force are determined according to the phase relationship between the roll motion of the underbody equipment and the diamond mode vibration of the car body, and the actuator system is driven.

4. An active control vibration absorption system for suppressing diamond mode chatter of a rail vehicle according to claim 3, wherein, the controller (2) controls the roll frequency of the underbody equipment to be consistent with the diamond mode frequency of the car body according to the phase relationship between the roll motion of the underbody equipment and the diamond mode vibration of the car body, and enables the roll motion of the underbody equipment and the diamond mode vibration of the car body to act in anti-phase, thereby determining the magnitude and direction of the applied damping force and suppressing the diamond mode chatter of the car body.

5. An active control vibration absorption system for suppressing diamond mode chatter of a rail vehicle according to claim 3, wherein, the controller (2) is located in the middle of the car body plate.

6. A control method for an active control vibration absorption system for suppressing diamond mode chatter of a rail vehicle according to any one of claims 1-5, wherein, it includes the following steps: 1) Preset the thresholds of the maximum lateral vibration amplitude, the maximum vertical vibration amplitude, the comfort threshold, the lateral ride quality threshold, the vertical ride quality threshold, and the phase difference between the car body and the underbody equipment; 2) Calculate the corresponding indexes according to the real-time acceleration information obtained by each acceleration sensor in the signal acquisition and processing system; 3) Compare the index calculation results with the preset thresholds. If no index reaches the corresponding preset threshold, the actuator does not apply additional force; if there is an index reaching the corresponding preset threshold, control the actuator (7) to work to provide an additional damping force for the damper (10), and control the roll frequency of the underbody equipment to be consistent with the diamond mode frequency of the car body through this damping force, and enable the roll motion of the underbody equipment and the diamond mode vibration of the car body to act in anti-phase.

7. The method according to claim 6, wherein, the diamond mode frequency of the car body is obtained by constructing the system modal vibration transfer function of the active control vibration absorption system; the calculation expression of the system modal vibration transfer function is: Where H R (ω) is the system modal vibration transfer function, ω is the circular frequency, ω 0 is the body diamond modal frequency, J 1 is the body roll moment of inertia; L is the body length; J 2 is the roll moment of inertia of the underframe equipment; θ 2 is the roll angle of the underframe equipment; G is the shear elastic modulus of the body floor; I is the moment of inertia; K 2 is the suspension stiffness of the underframe equipment; a 2 is the suspension span of the underframe equipment in the direction of the linkage long rod; R 1 is the body roll angle.

8. The method according to claim 6, wherein, the calculation expression for providing an additional damping force for the damper by controlling the actuator to work is: where F T is the output force of the actuation system, c is the damping adjustment coefficient, represents the functional relationship for determining the damping force based on the phase between the roll of the underbody equipment and the diamond mode vibration of the carbody, and F max is the maximum value of the output force of the actuation system.

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