集成VR技术的高速受电弓模糊主动控制及仿真
|
摘要
弓网受流性能良好是列车高速安全运行的前提条件,为研究模糊主动控制策略对弓网性能的影响,建立了弓网动力学模型及主动控制模型,构建了模糊主动控制器,进而建立了弓网系统的simulink仿真模型,对被动控制和模糊主动控制下的弓网振动特性进行了仿真分析。最后,建立了基于虚拟现实技术的弓网系统模糊主动控制仿真平台,仿真平台具有较强沉浸感、交互性,可使用户身临其境般的感受模糊主动控制对弓网振动性能的影响。研究表明:模糊主动控制可以极大的改善弓网受流性能,降低弓网接触力波动程度幅度达70%;降低弓网接触力最大值幅度达50%;提高接触力最小值幅度达80%。虚拟现实技术能在三维逼真的虚拟场景中展现仿真结果,有效提高对数据及其本质含义的认识和发现能力,缩短数据分析时间,是仿真数据展现与分析的重要手段。
The regular current collection is a fundamental requirement to high speed trains, and can be obviously improved by the use of active control. In order to study the impact of the fuzzy active control to pantograph-catenary system, the model of the system with or without active control was established, the fuzzy controller was constructed, and the simulation model was created with the software of simulink. Finally, the virtual simulation platform for pantograph-catenary was established with the integration of the VR and simulink. Then the influences of fuzzy active control to dynamic performances and quality of current collection of the pantograph-catenary system were analyzed. It seems that, the performances of the pantograph-catenary system can be improved obviously with the fuzzy active control, the maximum value of the contact force is reduced to 50 percent, the minimum is increased to 80 percent, and the fluctuation extent of the contact force is reduced to 70 percent. And the VR is the best way to visualize and analyze the data.
The regular current collection is a fundamental requirement to high speed trains, and can be obviously improved by the use of active control. In order to study the impact of the fuzzy active control to pantograph-catenary system, the model of the system with or without active control was established, the fuzzy controller was constructed, and the simulation model was created with the software of simulink. Finally, the virtual simulation platform for pantograph-catenary was established with the integration of the VR and simulink. Then the influences of fuzzy active control to dynamic performances and quality of current collection of the pantograph-catenary system were analyzed. It seems that, the performances of the pantograph-catenary system can be improved obviously with the fuzzy active control, the maximum value of the contact force is reduced to 50 percent, the minimum is increased to 80 percent, and the fluctuation extent of the contact force is reduced to 70 percent. And the VR is the best way to visualize and analyze the data.
引文
[1]马果垒,马君,苏安社,等.基于多体系统动力学的受电弓参数优化[J].大连交通大学学报,2010,31(4):33-37.
[2]邢海军,杨绍普,申永军.受电弓框架阻尼机构最优化设计[J].石家庄铁道学院学报,2005,15(1):8-12.
[3]Wu T X,Brennan M J.Active Vibration Control of a Railway Pantograph[J].Journal of Rail and Rapid Transit(S0954-4097),1997,211(2):117-130.
[4]罗仁,曾京.摆式列车受电弓垂向振动主动控制[J].交通运输工程学报,2006,6(2):11-16.
[5]于万聚.高速接触网-受电弓系统动态受流特性研究[J].铁道学报,1993,15(2):16-26.
[6]周宁,张卫华.基于受电弓弹性体模型的弓网动力学分析[J].铁道学报,2009,31(6):26-31.
[7]张卫华,黄标,梅桂明.基于虚拟样机技术的高速弓网系统研究[J].铁道学报,2005,27(4):30-35.
[8]Aleksandrs Matvejevs,Andrejs Matvejevs.Pantograph-Catenary System Modeling Using MATLAB-Simulink Algorithms[J].Scientific Journal of Riga Technical University Computer Science(S1407-7493),2010,44(5):38-44.
[9]Angelines Alberto,Jesús Benet,Enrique Arias,et al.A high performance tool for the simulation of the dynamic pantograph–catenary interaction[J].Mathematics and Computers in Simulation(S0378-4754),2008,79(3):652-667.
[10]Jong-Hwi Seo,Hiroyuki Sugiyama,Ahmed A.Shabana。Three-Dimensional Large Deformation Analysis of the Multibody Pantograph/Catenary Systems[J].Nonlinear Dynamics(S0924-090X),2005,42(2):199-215.
[11]黄标,张卫华,梅桂明.基于虚拟样机技术的受电弓/接触网系统研究[J].系统仿真学报,2004,16(10):2294-2297.(HUANG Biao,ZHANG Wei-hua,MEI Gui-ming.Study on Pantograph-Catenary System Based on Virtual Prototyping[J].Journal of System Simulation(S1004-731X),2004,16(10):2294-2297.)
[12]黄友能,唐涛,宋晓伟.虚拟仿真技术在地铁列车运行仿真系统中的研究[J].系统仿真学报,2008,20(12):3208-3211.(HUANG You-neng,TANG Tao,SONG Xiao-wei.Research on Application of Visual Simulation in Subway Trains Operation System[J].Journal of System Simulation(S1004-731X),2008,20(12):3208-3211.)
[13]郭京波,杨绍普,高国生.变刚度弓网系统主动控制研究[J].振动与冲击,2005,24(2):9-15.
[14]刘红娇,张卫华,梅桂明.基于状态空间法的受电弓主动控制的研究[J].中国铁道科学,2006,27(3):79-83.
[15]杨岗,李芾.高速受电弓滚动弓头特性研究[J].机车电传动,2010,(4):7-12.
[16]邓志东,余士良,张杨,罗熊.通用虚拟现实软件开发平台的研究及其应用[J].系统仿真学报,2006,18(12):3438-3443.(DENG Zhi-dong,YU Shi-liang,ZHANG Yang,LUO Xiong.General-purpose Development Platform for Virtual Reality and Its Applications to Visualization of Three-dimensional Structure of Biological Macromolecule[J].Journal of System Simulation(S1004-731X),2006,18(12):3438-3443.)
[17]L Barbieri,F Bruno,F Caruso,M Muzzupappa.Innovative integration techniques between Virtual Reality systems and CAX tools[J].Int J Adv Manuf Technol(S0268-3768),2008,38(11):1085-1097.
[2]邢海军,杨绍普,申永军.受电弓框架阻尼机构最优化设计[J].石家庄铁道学院学报,2005,15(1):8-12.
[3]Wu T X,Brennan M J.Active Vibration Control of a Railway Pantograph[J].Journal of Rail and Rapid Transit(S0954-4097),1997,211(2):117-130.
[4]罗仁,曾京.摆式列车受电弓垂向振动主动控制[J].交通运输工程学报,2006,6(2):11-16.
[5]于万聚.高速接触网-受电弓系统动态受流特性研究[J].铁道学报,1993,15(2):16-26.
[6]周宁,张卫华.基于受电弓弹性体模型的弓网动力学分析[J].铁道学报,2009,31(6):26-31.
[7]张卫华,黄标,梅桂明.基于虚拟样机技术的高速弓网系统研究[J].铁道学报,2005,27(4):30-35.
[8]Aleksandrs Matvejevs,Andrejs Matvejevs.Pantograph-Catenary System Modeling Using MATLAB-Simulink Algorithms[J].Scientific Journal of Riga Technical University Computer Science(S1407-7493),2010,44(5):38-44.
[9]Angelines Alberto,Jesús Benet,Enrique Arias,et al.A high performance tool for the simulation of the dynamic pantograph–catenary interaction[J].Mathematics and Computers in Simulation(S0378-4754),2008,79(3):652-667.
[10]Jong-Hwi Seo,Hiroyuki Sugiyama,Ahmed A.Shabana。Three-Dimensional Large Deformation Analysis of the Multibody Pantograph/Catenary Systems[J].Nonlinear Dynamics(S0924-090X),2005,42(2):199-215.
[11]黄标,张卫华,梅桂明.基于虚拟样机技术的受电弓/接触网系统研究[J].系统仿真学报,2004,16(10):2294-2297.(HUANG Biao,ZHANG Wei-hua,MEI Gui-ming.Study on Pantograph-Catenary System Based on Virtual Prototyping[J].Journal of System Simulation(S1004-731X),2004,16(10):2294-2297.)
[12]黄友能,唐涛,宋晓伟.虚拟仿真技术在地铁列车运行仿真系统中的研究[J].系统仿真学报,2008,20(12):3208-3211.(HUANG You-neng,TANG Tao,SONG Xiao-wei.Research on Application of Visual Simulation in Subway Trains Operation System[J].Journal of System Simulation(S1004-731X),2008,20(12):3208-3211.)
[13]郭京波,杨绍普,高国生.变刚度弓网系统主动控制研究[J].振动与冲击,2005,24(2):9-15.
[14]刘红娇,张卫华,梅桂明.基于状态空间法的受电弓主动控制的研究[J].中国铁道科学,2006,27(3):79-83.
[15]杨岗,李芾.高速受电弓滚动弓头特性研究[J].机车电传动,2010,(4):7-12.
[16]邓志东,余士良,张杨,罗熊.通用虚拟现实软件开发平台的研究及其应用[J].系统仿真学报,2006,18(12):3438-3443.(DENG Zhi-dong,YU Shi-liang,ZHANG Yang,LUO Xiong.General-purpose Development Platform for Virtual Reality and Its Applications to Visualization of Three-dimensional Structure of Biological Macromolecule[J].Journal of System Simulation(S1004-731X),2006,18(12):3438-3443.)
[17]L Barbieri,F Bruno,F Caruso,M Muzzupappa.Innovative integration techniques between Virtual Reality systems and CAX tools[J].Int J Adv Manuf Technol(S0268-3768),2008,38(11):1085-1097.