基于弹性车体的摆式列车倾摆控制仿真

o study the influence of carbody elastic vibration during tilting, the model for the tilting train mechanical-electrical coupled dynamics and carbody tilting control is established. The first modal shapes for the carbody lateral, vertical and torsional vibrations are considered. Then the differential equations considering the carbody elastic vibration are obtained using Ritz method. The carbody tilting is controlled by the method of online measurement of curving signals. The tilting control signal is based on the filtered lateral acceleration of the sensor on the first bogie frame. The curved track information is obtained from the filtered signals of the gyroscope on the first bogie frame. The H∞ robust digital controller is designed for the tilting system. The carbody elastic vibration during curve negotiation is studied by numerical method. It can be known from the numerical results that, the carbody torsional and lateral vibrations are larger on curved track than on straight track. The torsional vibration will increase during carbody tilting. The synchronism of the actuators on the front and rear bogies will influence the carbody elastic vibration, but the use of P controller can improve the synchronism of the two actuators.