Real-time hybrid testing device for vehicle running on magnetic levitation bridge

Abstract

The application discloses a kind of magnetic suspension bridge on vehicle real-time hybrid test device, comprising: test substructure module, numerical substructure module, loading equipment module, data acquisition module and boundary coordination algorithm module;Test substructure module is the real physical component to be tested;Numerical substructure is simulated except the part of test substructure;Loading equipment module generates the control command that drives loading equipment action in response to current time through control algorithm;Test substructure generates counterforce under the action of loading equipment, and data acquisition module real-time acquisition and feedback to numerical substructure module;Numerical substructure module generates response according to counterforce;Boundary coordination algorithm module solves segmented straight line in real time, to high-precision fitting curve working condition of train line operation.The application magnetic suspension bridge on vehicle real-time hybrid test device, under the closed loop action of multiple control commands, reproduce various train line operation state, and test condition selection is flexible, and test precision is high.

Description

Technical Field

[0001] This invention belongs to the field of magnetic levitation, specifically relating to a real-time hybrid test device for vehicles traveling on a magnetic levitation bridge. Background Technology

[0002] Speed ​​has always been a pursuit of humankind, permeating the entire history of rail transit development. Currently, the world's primary transportation technology is wheel-rail railway. However, it faces challenges such as air resistance and wheel-rail friction, limiting its speed to around 400 km / h under current economic and technological conditions. Maglev trains, on the other hand, can significantly increase operating speeds. Because they do not require direct wheel-rail contact, they effectively address the limitations of wheel-rail friction, adhesion, and vibration that have long plagued wheel-rail systems. Although my country's maglev train technology started relatively late, its development has been relatively rapid. The first maglev prototype rolled off the production line in 1989, a full thirty years ago in 2019. my country is also one of the few countries in the world that operates high-speed maglev rail transit on a market-based basis. In 2016, the Ministry of Science and Technology listed "Research on Key Technologies of High-Speed ​​Maglev Transportation Systems" as one of the key national projects under the "Advanced Rail Transit" program, officially launching research on key technologies for high-speed maglev.

[0003] Maglev trains require bridges with high rigidity to ensure stable operation, and they inevitably have to cross rivers, making the factors to be considered in the research more complex. Therefore, it is necessary to conduct experimental tests on important issues such as the stable operation of maglev trains with different bridge types and rigidities on the main operating lines, as well as the optimization of bridge design and train parameters.

[0004] In order to better conduct relevant research on maglev train operation in the laboratory and carry out dynamic testing of the maglev train at 600km / h, so that the test results can more accurately simulate the coupled vibration response generated during maglev train operation, a real-time hybrid test framework for maglev train operation on a maglev bridge is proposed, including but not limited to: suspension frame hybrid test, whole vehicle static suspension hybrid test, whole vehicle track hybrid test, and train formation track hybrid test. In the research and testing of 600km / h high-speed maglev train operation, several technical problems can be solved by the whole vehicle running system vibration test bench using the real-time hybrid test method: (1) How to optimize bridge design. The bridge type and design parameters of maglev train track change with the actual terrain. In order to ensure the smooth operation of maglev train, the stiffness and other properties of the bridge must match the test target speed. Therefore, the test results can provide effective reference for bridge design. (2) How to reduce the impact of aerodynamic loads on maglev train operation. Aerodynamic loads have a large interference on high-speed maglev train operation on bridges, which is not conducive to safe and smooth operation. Therefore, the test results can provide effective reference for the design of relevant parameters of maglev train under aerodynamic loads. (3) How to obtain the dynamic characteristics of maglev trains. The dynamic characteristics of maglev trains under different frequencies and amplitudes of external load disturbances are very important for the smooth operation of the line. Therefore, the test results can provide a basis and evidence for the study of the dynamic characteristics of maglev trains. Summary of the Invention

[0005] This invention provides a real-time hybrid test device for train operation on a maglev bridge, which realizes the reproduction of the maglev train line operation state in a laboratory environment, and provides an experimental framework and test platform for hybrid test research of high-speed maglev trains in the laboratory.

[0006] To achieve the above technical objectives, the present invention adopts the following technical solution:

[0007] A real-time hybrid test device for vehicles traveling on a magnetic levitation bridge includes: a test substructure module, a numerical substructure module, a loading device module, a data acquisition module, and a boundary coordination algorithm module;

[0008] The experimental substructure module is the actual physical component of the maglev train to be tested.

[0009] The numerical substructure includes the remaining part of the vehicle-bridge coupling system excluding the experimental substructure, and is obtained through simulation.

[0010] The loading device module includes a control algorithm and a loading device; the control algorithm generates control commands based on the segmented linear pose, and the control commands are used to drive the loading device to track the segmented linear pose response; the loading device acts on the experimental substructure in real time.

[0011] The test substructure generates a reaction force under the action of the loading device;

[0012] The data acquisition module collects the reaction force generated by the experimental substructure in real time and feeds it back to the numerical substructure module.

[0013] The numerical substructure module generates a response based on the reaction force fed back by the data acquisition module;

[0014] The boundary coordination algorithm module fits the line operation conditions of the maglev train based on the response generated by the numerical substructure module to obtain the segmented straight-line pose response.

[0015] The real-time mixed test device for train operation on the magnetic levitation bridge can reproduce various train line operation states under the closed-loop action of multiple control commands.

[0016] Furthermore, the real-time hybrid test device for vehicles traveling on a magnetic levitation bridge also includes a first excitation module; the first excitation module generates external excitation control commands that act on the test substructure at each time step.

[0017] Furthermore, the first excitation module includes vehicle speed and / or wind load.

[0018] Furthermore, the real-time hybrid test device for vehicles traveling on a magnetic levitation bridge also includes a second excitation module; the second excitation module generates a force acting on the numerical substructure module, and the data substructure module generates a response under the combined action of this force and the reaction force fed back by the data acquisition module.

[0019] Furthermore, the second excitation module includes earthquakes, vehicle speed, and / or road irregularities.

[0020] Furthermore, the loading device refers to a power device, including a vibration table.

[0021] Furthermore, the boundary coordination algorithm module specifically employs a physical boundary coordination algorithm to correct the response generated by the data value substructure module in real time in order to approximate the piecewise straight line.

[0022] Furthermore, the numerical substructure module uses an integral algorithm to calculate the received force data and obtain the corresponding response of the numerical substructure module.

[0023] Furthermore, the reproduction of various train line operation states includes, but is not limited to: single suspension frame / bogie operation test, whole vehicle static suspension test, whole vehicle line operation test, and trainset line operation test.

[0024] Beneficial effects

[0025] The beneficial effects of this invention patent are as follows:

[0026] (1) The real-time hybrid test device for train operation on a maglev bridge proposed in this invention is based on the physical-numerical hybrid test technology and applies it to the electromagnetic-structural-wind field multi-field coupling system of maglev trains. It constructs a world-class vibration test bench for the whole vehicle running system, which is capable of reproducing the line operation conditions of high-speed maglev trains in the laboratory. The key issues of whole vehicle testing can be effectively solved. Moreover, the test conditions are flexible, the test accuracy is high, and the entire test system is easy to operate and facilitates parametric research. The core function of this whole vehicle running system vibration test bench is realized through hybrid test technology. It can test the actual line operation conditions of 600km / h high-speed maglev trains in the laboratory and can provide a test platform for solving key problems of maglev train line operation.

[0027] (2) It can be used for bridge design optimization tests. The bridge type and related design parameters of maglev lines vary for different routes. For different vehicle speeds, the bridge must have sufficient stiffness and other properties. Therefore, the results of relevant working condition tests can provide a basis for parameter optimization.

[0028] (3) Tests of the operating conditions of maglev trains under aerodynamic loads have been achieved. Factors affecting the safety and smoothness of train operation, such as external loads and track irregularities, can be taken into account in the numerical substructure. Tests of external load loading during the operation of maglev trains can be carried out, and the test results can provide a reference for the design of relevant parameters of maglev trains. Attached Figure Description

[0029] Figure 1 A comprehensive technical roadmap for real-time mixed testing of vehicles traveling on a maglev bridge;

[0030] Figure 2 This is a flowchart of the real-time mixed test. Detailed Implementation

[0031] The embodiments of the present invention will be described in detail below. These embodiments are based on the technical solutions of the present invention and provide detailed implementation methods and specific operation processes to further explain the technical solutions of the present invention.

[0032] This invention provides a real-time hybrid test device for train operation on a maglev bridge, comprising: a test substructure module, a numerical substructure module, a loading device module, a data acquisition module, a boundary coordination algorithm module, a first excitation module, and a second excitation module; the test substructure module is the actual physical component of the maglev train to be tested; the numerical substructure includes the remaining part of the vehicle-bridge coupling system excluding the test substructure, and is obtained through simulation.

[0033] Under the closed-loop action of a control command, the workflow of the real-time hybrid test device for train operation on the maglev bridge is as follows: (1) The loading device module includes a control algorithm and a loading device; the control algorithm generates a control command based on the segmented straight pose, and the control command is used to drive the loading device to track the segmented straight pose; the loading device acts on the test substructure in real time; (2) a reaction force is generated under the action of the loading device; (3) the data acquisition module collects the reaction force generated by the test substructure in real time and feeds it back to the numerical substructure module; (4) the numerical substructure module generates a response based on the reaction force fed back by the data acquisition module; (5) the boundary coordination algorithm module fits the line operation condition of the maglev train based on the response generated by the numerical substructure module, obtains the segmented straight pose, and enters the closed-loop action of the next control command. The real-time hybrid test device for train operation on the maglev bridge reproduces various train line operation states under the closed-loop action of multiple control commands.

[0034] The first excitation module in the device includes vehicle speed and / or wind load excitations, used to generate excitation control commands acting on the test substructure at each time step.

[0035] The second excitation module in the device includes excitations such as earthquakes, vehicle speed, and / or road irregularities, which are used to generate forces acting on the numerical substructure module. The numerical substructure module generates a response based on the combined action of these forces and the reaction forces fed back by the data acquisition module.

[0036] The loading equipment in the loading equipment module includes power equipment such as vibration tables.

[0037] The data acquisition module in the device includes various sensors and corresponding acquisition equipment.

[0038] The boundary coordination algorithm module specifically employs a physical boundary coordination algorithm to correct the response generated by the data value substructure module in real time in order to approximate the piecewise straight line.

[0039] The numerical substructure module uses an integral algorithm to calculate the received force data, including the reaction force fed back by the data acquisition module and the force generated by the second excitation module, and obtains the corresponding response of the numerical substructure module.

[0040] The reproduction of various train line operation states includes, but is not limited to: single suspension frame / bogie operation test, whole vehicle static suspension test, whole vehicle line operation test, and train formation line operation test.

[0041] Figure 2The test flowchart for applying this invention to the operation state of the whole vehicle line test is as follows: the test substructure is a maglev train, which is installed on a vibration table (a type of loading device); while the numerical substructure is the part of the train system other than the maglev train, including the establishment of a numerical model of no less than seven spans of beams, which includes the simulation of piers, supports, beams, joints between beams, etc.

[0042] Step 1: The maglev vehicle starts running with the gravity of the vehicle as the initial external force. The magnetic levitation force (i.e., reaction force) is collected by the force sensor and the SCRAMNet shared memory card and fed back to the numerical bridge model. The internal excitation and the magnetic levitation force fed back by the test substructure are input into the numerical bridge model. The integral algorithm is used to output a smooth and continuous bridge deformation curve (response).

[0043] Step 2: Input the smooth bridge deformation output above into the boundary coordination algorithm to obtain the vertical and lateral horizontal displacements and rotation angles of the vibration table surface. At the same time, calculate the position of the feedback force that changes due to the vehicle speed change, and then feed back the reaction force through the vibration table. Meanwhile, the vibration table also applies the external load excitation to the maglev train.

[0044] Step 3: The maglev train then transmits maglev force to the numerical bridge model under the loading of the vibration table, and then repeats the process of Step 1 and Step 2 to achieve the closed loop of the experiment.

[0045] The above embodiments are preferred embodiments of this application. Those skilled in the art can make various changes or improvements based on them. Without departing from the overall concept of this application, these changes or improvements should fall within the scope of protection claimed in this application.

Claims

1. A real-time hybrid testing device for a maglev bridge vehicle, characterized in that, The application relates to a real-time hybrid testing device for a maglev train bridge, which comprises a test substructure module, a numerical substructure module, a loading device module, a data acquisition module and a boundary coordination algorithm module. The test substructure module is a real physical component to be tested of the maglev train. The numerical substructure comprises the remaining part of a vehicle-bridge coupling system except the test substructure and is obtained through simulation. The boundary coordination algorithm module fits a linear pose including displacement and rotation angle of the maglev train according to the response of the numerical substructure module, and obtains a segmented linear pose. The loading device module comprises a control algorithm and a loading device. The control algorithm generates a control command according to the segmented linear pose, and the control command is used to drive the loading device to act to track the segmented linear pose. The loading device acts on the test substructure in real time. The test substructure generates a counterforce under the action of the loading device. The data acquisition module acquires the counterforce generated by the test substructure in real time and feeds back to the numerical substructure module. The numerical substructure module generates a response according to the counterforce fed back by the data acquisition module.

2. The magnetic levitation bridge tram real-time hybrid test device according to claim 1, characterized in that, The real-time hybrid testing device for the maglev train bridge reproduces various train line operation states under the closed-loop action of multiple control commands.

3. The magnetic levitation bridge tram real-time hybrid test device according to claim 2, characterized in that, The device further comprises a first excitation module.

4. The magnetic levitation bridge tram real-time hybrid test device according to claim 1, characterized in that, The first excitation module generates an external excitation control command acting on the test substructure at each time step.

5. The magnetic levitation bridge tram real-time hybrid test device according to claim 4, characterized in that, The first excitation module comprises vehicle speed and / or wind load.

6. The magnetic levitation bridge tram real-time hybrid test device according to claim 1, characterized in that, The device further comprises a second excitation module.

7. The magnetic levitation bridge tram real-time hybrid test device according to claim 1, characterized in that, The second excitation module generates an acting force acting on the numerical substructure module.

8. The magnetic levitation bridge tram real-time hybrid test device according to claim 1, characterized in that, The numerical substructure module generates a response under the combined action of the acting force and the counterforce fed back by the data acquisition module.

9. The magnetic levitation bridge tram real-time hybrid test device according to claim 1, characterized in that, The second excitation module comprises earthquake, vehicle speed and / or line irregularity. The loading device is a power device, and the vibration table is used as the loading device. The boundary coordination algorithm module adopts a physical boundary coordination algorithm to correct the response of the numerical substructure module in real time to approximate the segmented linear pose. The numerical substructure module adopts an integral algorithm to calculate the received acting force data and correspondingly obtains the response of the numerical substructure module. The reproduced various train line operation states include but are not limited to single-suspension frame / bogie operation test, whole vehicle static suspension test, whole vehicle line operation test and marshalling line operation test.

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