Active Vibration Control of Rail Vehicles Subjected to Excess Centrifugal Force in Curved Tracks

为了防止高速曲线通过引起的横向颠簸/停车，研究了在车辆主动悬挂系统中增加对中控制的问题。首先，数值仿真表明，在二系悬挂系统中使用同一个执行器，振动控制和对中控制可以协同工作。在这里，作为致动器的安装高度，二次弹簧的几乎中心位置对于对中控制是有效的。在高于规定速度45 km/h时的最大控制力大大超过了仅振动控制所需的控制力。这表明有必要采用液压或机电作动器，而不是气动作动器来实现两种控制的协同工作。其次，进行了与比例半车辆模型的实验，将实验装置倾斜7度角，这对应于过量的离心加速度。在实验中， 关于我们 通过对中控制，在所有检查的频率范围内防止了二次悬架中的横向碰撞/停止。结果表明，虽然两种控制方式的效果是一种折衷关系，但协同控制对改善车辆平顺性是可行的。第三，应用H^∞控制律改善了协同控制的效果。考虑到两种控制的折衷关系，提出了一种加权函数用于控制器的设计，并在实际轨道不平顺和等效多余离心加速度的随机激励下验证了其有效性。通过数值仿真验证了利用可观测状态对摆式车进行协同控制的效果，证实了可观测状态对协同控制效果的影响最后，建立了高速曲线轨道车辆主动悬挂的控制机理及其控制器设计方法。今后，有必要使用实际车辆来确认效果，并且从软件和硬件两方面确保控制系统的可靠性对于实际使用是必不可少的。少

In this study, addition of centering control to the active suspension of rail vehicles was examined for preventing the lateral bump/stop caused by the high-speed curve negotiation.Firstly, numerical simulation showed that the cooperative work was possible for vibration control and centering one using an identical actuator in the secondary suspension. Here, as the mounting height of actuator, almost the central position of secondary spring was effective for the centering control. The largest control force in the running at 45 km/h higher than the regulation speed was greatly surpassed the one needed for only the vibration control. This indicates that it is necessary to employ hydraulic or electromechanical actuators rather than pneumatic ones for cooperative work of the two controls.Secondly, experiments with a scaled half vehicle model were carried out inclining the experimental apparatus by the angle of 7 degrees that corresponded to an excess centrifugal acceleration. In the experime … More nt with the centering control, the lateral bump/stop in the secondary suspension was prevented in all the examined frequency range. The results showed the possibility of improving the ride comfort with the cooperative control, although the effects of the two controls are in a trade-off relation.Thirdly, the effect of the cooperative control was improved by applying H^∞ control law. Considering the trade-off relation of both controls, a weighting function was proposed for the controller design, and its effectiveness was confirmed under the condition with random excitation from actual track irregularity and equivalent excess centrifugal acceleration.In the fourth, the cooperative control using observable states on the tilting car was examined by numerical simulation and it was confirmed that the effect could be kept with observed accelerations.Finally, this study established a control mechanism and its controller design method for the active suspension of rail vehicles running on curved tracks at high speeds. In the future, it is necessary to confirm the effect using practical vehicles, and it is indispensable for practical use to secure the reliability of control system in both the software and the hardware. Less