CN105890744A - Method for determining snakelike instability of rail vehicle - Google Patents

Abstract

A method for determining snakelike instability of a rail vehicle includes noise-assisted ensemble empirical mode decomposition (EEMD), instantaneous frequency (and amplitude ), generalized zero-crossing (GZC) frequency (and amplitude ), and non-linear index calculating methods. If snakelike instability occurs to a train, the non-linear index of the train is enhanced, so that early warning can be given for possible instability. The invention provides a novel method for determining snakelike instability. The method includes calculating instantaneous frequency, instantaneous amplitude, zero-crossing average frequency (amplitude) and non-linear index, and determining the snakelike instability according to the non-linear index. The defect of unreliable determination of a conventional determining method is solved.

Description

A kind of rail vehicle snakelike unstability decision method

Technical field

The present invention relates to a kind of decision method, particularly to a kind of rail vehicle snakelike unstability decision method.

Background technology

Train safe is the factor of train operation overriding concern, and therefore manufacturer devises different monitoring systems both at home and abroad Train operation state is monitored by system and equipment.These detecting systems and the widely used accelerometer of equipment and strain Key position is monitored by instrument, including the monitoring to train safe index and stability index.But, the most domestic The most do not judge the national standard of the snakelike unstability of train, generally use such processing method: horizontal to train bogie 0.5-10Hz bandpass filtering is carried out, if continuous 6 crest values of filtered signal are more than to acceleration of vibration 8-10m/s^2, then it is assumed that train is laterally unstable (snakelike unstability).But the method filter range is relatively big, filtering Rear signal there may be the signal outside snakelike ripple, and the peak value definition gear shaper without theoretical foundation of six continuous waves, to snakelike mistake Surely there may be erroneous judgement.

Along with the raising of train running speed, requiring more and more higher to transportation safety, unstability snakelike to train carries out pre- Warn and control particularly important.Therefore, use detection technique that EMUs running status is monitored in real time, propose new Method carries out accurate early warning to the snakelike unstability being likely to occur, significant.

Summary of the invention

Present invention is primarily aimed at the technical problem solving how to judge snakelike unstability, it is provided that a kind of rail vehicle Serpentis Shape unstability decision method.

For achieving the above object, the technical scheme is that

A kind of rail vehicle snakelike unstability decision method, is provided with the acceleration biography that two diagonal angles are arranged on bogie Sensor, calculates instantaneous frequency IF (t), the average frequency of zero crossing respectively to bogie two ends transducer transversely acceleration signal Rate IF_zc(t) and amplitude A_zcT (), by described instantaneous frequency IF (t), zero crossing average frequency IF_zc(t) and amplitude A_zc(t) Calculate nonlinear indicator INL, whether judge snakelike unstability by described nonlinear indicator INL.

Further, snakelike characteristic wave c is extracted respectively according to bogie two ends transducer transversely acceleration signal_j, according to Snakelike characteristic wave c_jCalculate instantaneous frequency IF (t), zero crossing average frequency IF_zc(t) and amplitude A_zc(t)。

Further, bogie one end transducer transversely acceleration signal is carried out noise auxiliary EEMD empirical mode decomposition, Obtain multiple modal components c_i；

Each IMF is calculated average frequencyAnd frequency f snakelike with theory one by one_ciCompare, calculate

ε is error allowance；

If Δ f_ci＞ ε, it is believed that do not have snakelike frequency content, EMUs do not have snakelike unstability；

Otherwise, select Δ f_ciMinimum modal components c_jAs snakelike characteristic wave.

Further, to snakelike characteristic wave c_jCalculate instantaneous frequency IF (t), zero crossing average frequency IF_zc(t) and amplitude A_zc(t)；

Calculate snakelike characteristic wave c_jNonlinear indicator INL:

$INL=(\frac{IF\left(t\right)-{\mathrm{IF}}_{zc}\left(t\right)}{{\mathrm{IF}}_{zc}\left(t\right)}.\frac{A_{zc}\left(t\right)}{{\stackrel{\‾}{A}}_{zc}\left(t\right)})\%$

Further, bogie two ends transducer transversely acceleration signal is calculated nonlinear indicator INL respectively, if turning to Transverse acceleration snakelike characteristic wave frequency in frame two ends is consistent and both nonlinear indicator is all higher than threshold value, then it is assumed that dynamic There is snakelike unstability in car group.

Further, described snakelike unstability decision method is applied to snakelike unsteady repression system, described snakelike unsteady repression System includes snakelike early warning and control module, for judging whether bogie is located according to described snakelike unstability decision method In snakelike instability status；

Traction electric machine speed control system, for controlling traction electricity according to the judgement of described snakelike early warning with control module The rotating speed of machine；

Described snakelike early warning is connected described traction electric machine speed control system with the signal output part of control module.

Further, described snakelike unsteady repression system also includes measured lateral acceleration module, is used for measuring bogie Lateral vibration acceleration；

The signal output part of described measured lateral acceleration module connects with the signal input part of snakelike early warning with control module Connect；

Whether described snakelike early warning and control module judge bogie according to the data of measured lateral acceleration module transfer It is in snakelike instability status.

Further, described traction electric machine speed control system includes given speed control module, for according to described Serpentis Control signal k of shape early warning and control module transmission and the given rotating speed sp2 after adjusting, select the former given rotating speed of employing Given rotating speed sp2 after sp1 or adjustment transmits to speed controller module；

Speed controller module, is used for receiving given rotating speed and actual speed, to the given magnetic linkage of DTC control module transmission Flux^*With given torque Torque^*；

DTC control module, for receiving electric current I_ab and voltage V_abc, the speed of the transmission of traction electric machine measurement module The given magnetic linkage Flux of controller module transmission^*With given torque Torque^*, to the switching device of traction motor inverter Send and drive signal g；

Described snakelike early warning and the control signal outfan of control module, given rotating speed outfan respectively with given speed The control signal input of control module, given rotating speed input connect, giving of described given speed control module Rotating speed outfan is connected with the given rotating speed input of speed controller module, the reality of described speed controller module Rotating speed input is connected with traction electric machine rotating speed outfan, the given magnetic linkage outfan of described speed controller module, Given torque outfan is connected with the given magnetic linkage input of DTC control module, given torque input respectively, described The voltage of DTC control module, current input terminal are connected with voltage, the current output terminal of traction electric machine measurement module respectively, The driving signal output part of described DTC control module is connected with traction motor inverter.

Further, described snakelike unsteady repression system also includes display module, is used for showing the snakelike unstability of rail vehicle The Parameters variation of suppression system；

Described display module signal input part respectively with speed controller module, traction electric machine rotating speed outfan, snakelike Early warning is connected with control module.

Further, described measured lateral acceleration module include sensor assembly, GPS module, data acquisition module, Main control unit MCU module, data process&analysis module；

Described data acquisition module is connected with sensor assembly and GPS module respectively, and described main control unit MCU module is divided It is not connected with described data acquisition module, data process&analysis module.

To sum up content, a kind of rail vehicle snakelike unstability decision method of the present invention, it is provided that a kind of new Serpentis Shape unstability decision method, calculates instantaneous frequency, instantaneous amplitude and nonlinear indicator, and judges according to nonlinear indicator Whether snakelike unstability, solves the insecure shortcoming of prior art decision method.

Accompanying drawing explanation

Fig. 1 is the drawing of the present invention snakelike unstability Direct torque；

Fig. 2 is measured lateral acceleration module results schematic diagram of the present invention.

Detailed description of the invention

With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings:

A kind of rail vehicle snakelike unstability decision method of the present invention, is mainly used in the snakelike unstability of rail vehicle In suppression system, the determination methods whether being in snakelike unstability as rail vehicle uses.

Rail vehicle snakelike unsteady repression system, including snakelike early warning and control module, traction electric machine speed controlling system System, snakelike early warning is connected described traction electric machine speed control system with the signal output part of control module.Snakelike early warning Being used for judging whether bogie is in snakelike instability status with control module, traction electric machine speed control system is used for root The rotating speed judging control traction electric machine according to described snakelike early warning with control module.By snakelike early warning and control module Judging whether bogie is in snakelike instability status, if being in snakelike instability status, then controlling traction electric machine rotating speed fall Low, can effectively eliminate the snakelike unstability of rail vehicle.

In the present embodiment, snakelike early warning and control module use calculating vibration nonlinearity index method to judge to turn to Whether frame is in snakelike unstability；By Direct Torque Control (DTC) theory realize traction electric machine rotating speed direct Control.

Concrete, as it is shown in figure 1, rail vehicle snakelike unsteady repression system, including snakelike early warning and control module, Measured lateral acceleration module, given speed control module, speed controller module, DTC control module.Snakelike pre- Alert with the control signal outfan of control module, given rotating speed outfan respectively with the control of given speed control module Signal input part, given rotating speed input connect, the given rotating speed outfan of given speed control module and speed control The given rotating speed input of device module processed connects, and the actual speed input of speed controller module turns with traction electric machine Speed outfan connects, and the given magnetic linkage outfan of speed controller module, given torque outfan are controlled with DTC respectively The given magnetic linkage input of molding block, given torque input connect, the voltage of DTC control module, current input terminal It is connected with voltage, the current output terminal of traction electric machine measurement module respectively, the driving signal output part of DTC control module It is connected with traction motor inverter.

As in figure 2 it is shown, measured lateral acceleration module is for measuring the lateral vibration acceleration of bogie, laterally add The signal output part of speed measurement module is connected with the signal input part of control module with snakelike early warning.Transverse acceleration Measurement module includes that sensor assembly, GPS module, data acquisition module, main control unit MCU module, data process With analysis module, data storage cell, data acquisition module is connected with sensor assembly and GPS module respectively, main Control unit MCU module is respectively with described data acquisition module, data process&analysis module, data storage cell even Connect.

Above the spring strut of bogie frame, two acceleration transducers are installed at diagonal angle, for measuring the horizontal stroke of bogie To acceleration.Carry out data communication by RS-232 serial ports between GPS module and main control unit MCU module, pass through GPS module can determine that where train nonlinear indicator obtains under what speed, the operating mode such as.Data acquisition Module utilizes A/D conversion chip to realize the collection of bogie acceleration analogue signal.Data process&analysis module is used In to snakelike unstability feature analysis and process.

Data acquisition module and GPS module are encapsulated in a can, are fixed under EMUs car in equipment compartment. Acceleration transducer uses strain acceleration transducer, its sample frequency acquiescence to be set to 1000Hz, GPS test parameter For speed and the position of train, its sample frequency acquiescence is scheduled on 10Hz.

Two measuring point outfan (ydd1, ydd2) outfans of measured lateral acceleration module respectively with snakelike early warning Being connected with two inputs of control module, lateral vibration acceleration ydd1, ydd2 transmission of two measuring points is to snakelike Early warning and control module carry out next step and calculate.

It is snakelike that snakelike early warning and control module use calculating vibration nonlinearity index method to judge whether bogie is in Unstability, the calculating that vibration nonlinearity refers to comprises the steps:

(1) bogie one end transducer transversely acceleration signal is carried out noise auxiliary EEMD empirical mode decomposition, To multiple modal components c_i；

(2) each IMF is calculated average frequencyAnd frequency f snakelike with theory one by one_ciCompare, calculate

ε is error allowance；

If Δ f_ci＞ ε, it is believed that do not have snakelike frequency content, EMUs do not have snakelike unstability；

Otherwise, select Δ f_ciMinimum modal components c_jAs snakelike characteristic wave；

(3) to snakelike characteristic wave c_jCalculate instantaneous frequency IF (t), broad sense zero crossing frequency Zero-crossing (GZC) Frequency IF_zc(t) and amplitude A_zc(t)；

(4) snakelike characteristic wave c is calculated_jNonlinear indicator INL:

$INL=(\frac{IF\left(t\right)-{\mathrm{IF}}_{zc}\left(t\right)}{{\mathrm{IF}}_{zc}\left(t\right)}.\frac{A_{zc}\left(t\right)}{{\stackrel{\‾}{A}}_{zc}\left(t\right)})\%$

(5) (4) are arrived in the lateral vibration acceleration repetition (1st) to another sensor of one end, bogie diagonal angle；

(6) if end transverse acceleration snakelike characteristic wave frequency in bogie two diagonal angle is consistent and both nonlinear indicators are equal More than threshold value, then it is assumed that EMUs occur snakelike unstability.

Above-mentioned new snakelike unstability decision method, calculating instantaneous frequency, instantaneous amplitude and nonlinear indicator, and according to Whether nonlinear indicator judges snakelike unstability, solves the insecure shortcoming of prior art decision method.

Snakelike early warning and the control signal outfan of control module, given rotating speed outfan respectively with given speed control The control signal input of module, given rotating speed input connect.Snakelike early warning and control module are by above-mentioned step Given rotating speed sp2 after rapid calculating judges, if bogie is in snakelike instability status, after sending control signal k and adjusting To given speed control module.

Switching choosing between given speed control module given rotating speed sp2 after former given rotating speed sp1 and adjustment Select.If train is in stable operation, then original given rotating speed sp1 is transmitted to speed controller module；If at train In snakelike instability status, after receiving control signal k, given speed control module will adjust after given rotating speed sp2 Transmission is to speed controller module, as given rotating speed N^*。

Speed controller module is used for receiving given rotating speed and actual speed, to the given magnetic linkage of DTC control module transmission Flux^*With given torque Torque^*.Speed controller module is according to given rotating speed sp2 (the given rotating speed N after adjusting^*), Table look-up through magnetic linkage and export given magnetic linkage Flux^*To DTC control module, speed controller module by given rotating speed sp2 with Traction electric machine actual speed (N) compare after (N^*-N) through the given torque Torque of pi regulator output^*To DTC control Module.

DTC control module is for receiving electric current I_ab and voltage V_abc, the speed control of the transmission of traction electric machine measurement module The given magnetic linkage Flux of device module transfer processed^*With given torque Torque^*, send out to the switching device of traction motor inverter Send driving signal g.

DTC control module calculates real according to the electric current I_ab and voltage V_abc of the traction electric machine measurement module transmission received Border magnetic linkage and actual torque, by given magnetic linkage Flux^*With given torque Torque^*Difference is taken with actual magnetic linkage and actual torque Value, respectively through torque and flux linkage hysteresis comparator device, is input in voltage switch vector table together with Stator flux linkage sectors, Select suitable voltage vector, by sending the switching device driving signal g to control traction motor inverter.

The present invention realizes the direct control to traction electric machine rotating speed by Direct Torque Control (DTC) theory, with existing The oscillation crosswise having technology to be only capable of reducing train is compared, and present invention reduces train running speed, it is possible to eliminate snakelike Unstability.

Rail vehicle snakelike unsteady repression system also includes display module, and display system is used for showing that rail vehicle is snakelike The Parameters variation of unsteady repression system, adds including electric current, rotating speed, magnetic linkage, electromagnetic torque, torque reference, measurement Speed, nonlinear indicator etc..Display module signal input part respectively with speed controller module, traction electric machine rotating speed Outfan, snakelike early warning are connected with control module.

A kind of rail vehicle snakelike unsteady repression method utilizing said apparatus, comprises the steps:

Step 1, snakelike early warning according to the lateral vibration acceleration of surveyed bogie, calculate vibration non-thread with control module Property index judges whether bogie is in snakelike instability status.

If step 2 bogie is in snakelike instability status, then provides the reference lower than current traction electric machine rotating speed and turn Speed, controls traction electric machine and reduces rotating speed, reduce the rail vehicle speed of service.

Concrete, if bogie is in snakelike instability status, snakelike early warning and control module are by control signal k and adjustment After given rotating speed sp2 be transferred to given speed control module, given speed control module will adjust after given rotating speed Sp2 transmits to speed controller module.

Speed controller module, according to given rotating speed sp2, is tabled look-up through magnetic linkage and is exported given magnetic linkage Flux^*To DTC control Module, given rotating speed sp2 is compared afterwards through pi regulator output by speed controller module with traction electric machine actual speed Given torque Torque^*To DTC control module.

DTC control module calculates real according to the electric current I_ab and voltage V_abc of the traction electric machine measurement module transmission received Border magnetic linkage and actual torque, by given magnetic linkage Flux^*With given torque Torque^*Difference is taken with actual magnetic linkage and actual torque Value, respectively through torque and flux linkage hysteresis comparator device, is input in voltage switch vector table together with Stator flux linkage sectors, Select suitable voltage vector, by sending the switching device driving signal g to control traction motor inverter.

As it has been described above, combine the plan content given by accompanying drawing, similar technical scheme can be derived.In every case it is Without departing from the content of technical solution of the present invention, any letter above example made according to the technical spirit of the present invention Single amendment, equivalent variations and modification, all still fall within the range of technical solution of the present invention.

Claims (10)

1. a rail vehicle snakelike unstability decision method, it is characterised in that: on bogie, it is provided with two diagonal angles The acceleration transducer arranged, calculates instantaneous frequency respectively to bogie two ends transducer transversely acceleration signal IF (t), zero crossing average frequency IF_zc(t) and amplitude A_zc(t), average by described instantaneous frequency IF (t), zero crossing Frequency IF_zc(t) and amplitude A_zcT () calculates nonlinear indicator INL, judge snakelike unstability by described nonlinear indicator INL Whether.

A kind of rail vehicle snakelike unstability decision method the most according to claim 1, it is characterised in that: according to Bogie two ends transducer transversely acceleration signal extracts snakelike characteristic wave c respectively_j, according to snakelike characteristic wave c_jCalculate Instantaneous frequency IF (t), zero crossing average frequency IF_zc(t) and amplitude A_zc(t)。

A kind of rail vehicle snakelike unstability decision method the most according to claim 2, it is characterised in that: to turning Carry out noise auxiliary EEMD empirical mode decomposition to frame one end transducer transversely acceleration signal, obtain multiple mode and divide Amount c_i；

Each IMF is calculated average frequencyAnd frequency f snakelike with theory one by one_ciCompare, calculate

ε is error allowance；

If Δ f_ci＞ ε, it is believed that do not have snakelike frequency content, EMUs do not have snakelike unstability；

Otherwise, select Δ f_ciMinimum modal components c_jAs snakelike characteristic wave.

4. according to a kind of rail vehicle snakelike unstability decision method described in Claims 2 or 3, it is characterised in that: right Snakelike characteristic wave c_jCalculate instantaneous frequency IF (t), zero crossing average frequency IF_zc(t) and amplitude A_zc(t)；

Calculate snakelike characteristic wave c_jNonlinear indicator INL:

$INL=(\frac{IF\left(t\right)-{\mathrm{IF}}_{zc}\left(t\right)}{{\mathrm{IF}}_{zc}\left(t\right)}.\frac{A_{zc}\left(t\right)}{{\stackrel{\‾}{A}}_{zc}\left(t\right)})\%$

5. according to a kind of rail vehicle snakelike unstability decision method described in Claims 2 or 3, it is characterised in that: right Bogie two ends transducer transversely acceleration signal calculates nonlinear indicator INL respectively, if bogie two ends laterally accelerate Spend that snakelike characteristic wave frequency is consistent and both nonlinear indicator is all higher than threshold value, then it is assumed that EMUs occur snakelike mistake Surely.

A kind of rail vehicle snakelike unstability decision method the most according to claim 1, it is characterised in that: described Snakelike unstability decision method is applied to snakelike unsteady repression system, and described snakelike unsteady repression system includes snakelike early warning With control module, it is used for judging whether bogie is in snakelike instability status according to described snakelike unstability decision method；

Traction electric machine speed control system, for controlling traction electricity according to the judgement of described snakelike early warning with control module The rotating speed of machine；

Described snakelike early warning is connected described traction electric machine speed control system with the signal output part of control module.

A kind of rail vehicle snakelike unstability decision method the most according to claim 6, it is characterised in that: described Snakelike unsteady repression system also includes measured lateral acceleration module, for measuring the lateral vibration acceleration of bogie；

The signal output part of described measured lateral acceleration module connects with the signal input part of snakelike early warning with control module Connect；

Whether described snakelike early warning and control module judge bogie according to the data of measured lateral acceleration module transfer It is in snakelike instability status.

A kind of rail vehicle snakelike unstability decision method the most according to claim 6, it is characterised in that: described Traction electric machine speed control system includes given speed control module, for according to described snakelike early warning and control module Control signal k of transmission and the given rotating speed sp2 after adjusting, select after using former given rotating speed sp1 or adjusting is given Rotating speed sp2 transmits to speed controller module；

Speed controller module, is used for receiving given rotating speed and actual speed, to the given magnetic linkage of DTC control module transmission Flux^*With given torque Torque^*；

DTC control module, for receiving electric current I_ab and voltage V_abc, the speed of the transmission of traction electric machine measurement module The given magnetic linkage Flux of controller module transmission^*With given torque Torque^*, to the switching device of traction motor inverter Send and drive signal g；

Described snakelike early warning and the control signal outfan of control module, given rotating speed outfan respectively with given speed The control signal input of control module, given rotating speed input connect, giving of described given speed control module Rotating speed outfan is connected with the given rotating speed input of speed controller module, the reality of described speed controller module Rotating speed input is connected with traction electric machine rotating speed outfan, the given magnetic linkage outfan of described speed controller module, Given torque outfan is connected with the given magnetic linkage input of DTC control module, given torque input respectively, described The voltage of DTC control module, current input terminal are connected with voltage, the current output terminal of traction electric machine measurement module respectively, The driving signal output part of described DTC control module is connected with traction motor inverter.

A kind of rail vehicle snakelike unstability decision method the most according to claim 6, it is characterised in that: described Snakelike unsteady repression system also includes display module, for showing that the parameter of rail vehicle snakelike unsteady repression system becomes Change；

Described display module signal input part respectively with speed controller module, traction electric machine rotating speed outfan, snakelike Early warning is connected with control module.

A kind of rail vehicle snakelike unstability decision method the most according to claim 7, it is characterised in that: described Measured lateral acceleration module include sensor assembly, GPS module, data acquisition module, main control unit MCU module, Data process&analysis module；

Described data acquisition module is connected with sensor assembly and GPS module respectively, and described main control unit MCU module is divided It is not connected with described data acquisition module, data process&analysis module.