Research On Active Control Of Yaw Damper For High-speed Trains Based On Model Predictive Control

In recent years,high-speed train has made rapid development in China,the highest running speed is 350km/h.4000 grups of trains run on the line everyday.Not only the running speed is much faster than before,but also railways have been constructed in many areas with complex terrains.However,it is inevitable that various dynamic problems will appear in the service life of the train,which will bring great challenges to the suspension system of the train.Moreover,there are lots of limitations while using the passive suspension system.The dynamic performance of the vehicle will reach the limit when all the parameters of the traditional passive suspension achieve the most optimal value.Furthermore,when the train speeds up or travels through roads with bad road conditions,both the ride comfort and running safety of the train cannot be guaranteed effectively.As a result,the active control method must be adopted to improve the running stability of the vehicle.In this paper,the control of active yaw damper is studied to suppress the hunting movement of vehicles.The specific work is as follows:(1)A model predictive control method for yaw damper of high speed EMU bogie is proposed.(2)Based on the 7 degrees simplified dynamics model of vehicle lateral system,the model predictive control strategy and optimal parameters of active yaw damper were designed.The effectiveness of the control strategy was analyzed by simulation,and the influence of control parameters on the control effect of hunting motion was mastered.The results show that compared with the passive suspension,the MPC active yaw damper can effectively suppress the vehicle’s hunting motion and increase the critical speed of the vehicle by more than 30%.(3)The nonlinear dynamics model of vehicle 3d system was established,and the cosimulation of active yaw control was realized based on SIMPACK and MATLAB/Simulink.Adopt active and passive yaw parallel suspension scheme.Aiming at the characteristics of the vehicle’s primary and secondary hunting instability,the effective control of the vehicle’s hunting instability was achieved by designing reasonable control objectives and control strategies.(4)In case of primary hunting movement,the main frequency of vehicle body and frame is reduced by 64% and 90% respectively after control.However,in case of secondary hunting movement,the lateral acceleration suppression effect of the frame and vehicle body is not as obvious as that of the primary hunting movement.The main frequency of the frame and vehicle body increases,and the amplitude of the main frequency decreases by 11% and9% respectively.When running at lower equivalent taper,the active control effect is obvious when the vehicle speed is higher.When the equivalent taper is high,the active control can suppress the low frequency vibration obviously,but cannot suppress the high frequency vibration.