Maglev Vehicle/Guideway Vertical Random Response and Ride Quality

Summary The research and development (R & D) of maglev technology had made a great progress in China since the early 1980s. Especially, a 35 km-long Shanghai high-speed maglev railway employing the German Transrapid system began to be constructed on March 1, 2001. Based on the Transrapid system, the paper develops a 10-degree-of-freedom model of maglev vehicle running over three types of guideways with constant speed. Random guideway irregularities are discussed and taken into account for simulation of the vehicle response and for evaluation of the ride comfort. Using the direct time integration method and the discrete fast Fourier transform (DFFT), random responses of the maglev vehicle-guideway systems are obtained and analyzed. Numerical results show that the resonant frequency of car body acceleration response is 0.5–1 Hz, and there is a 2.2 Hz periodic vibration due to the periodic configuration of rigid piers when the maglev vehicle travels over the elevated-beam guideway. The car body acceleration power spectral density (PSD) curves meet well the ride quality criterion of the urban tracked aircushion vehicle (UTACV) and the maximum acceleration of car body is less than 0.05 g. Moreover, the Sperling ride index values are less than 2.5 as long as the operational speed is less than 450 km/h. It is concluded that the maglev vehicle ride quality is quite well.     

汽车行驶平顺性的评价方法

先介绍了ISO2631—1：1997(E)中评价振动的两种基本方法——基本评价法和辅助评价法以此为基础，介绍了基于特定车型的汽车振动综合舒适度这一新的评价指标，它的建立使得在对特定车型平顺性分析评价中，可以引用统计分析数据及模糊数学方法进行诸如加权系数矩阵的确定，说明了这一新指标对于评价特定车型比基本评价法更合理、更科学     

Ride Quality and Dynamics of Rail Vehicle Models for Microcomputers

This paper describes mathematical and computer models for ride quality and dynamics of rail vehicles developed for running on personal computers. The purpose of the computer simulations is for prediction of ride quality in order to study the dynamic stability of the system and the effect of track quality and irregularities on ride quality.

In deriving the equations of motion for dynamic stability, the tangential forces acting on the contact areas between the wheels and rails are of fundamental importance in railway vehicles dynamics and are included in the analysis [1]. These forces are due to the creep phenomenon between the wheel and the rail on which it is rolling. Track irregularities are defined in terms of four components consisting of gauge, cross level, alignment and vertical surface profile [2]. Relation of allowable track irregularities versus speed is given by the FRA Track Safety Standards. Analytical representation of track irregularities should include both PSD (Power Spectral Density) for CWR (Continuous Welded Rail) as well as discrete inputs from track joints.

In this paper, the rail vehicle suspension analysis and dynamics mathematical and computer models are described. The computer models are written in Fortran 77 and designed to run on personal computer. The paper also discusses programming considerations that must be taken into account when programming for microcomputers under DOS (IBM's Disk Operating System) and MS or RM Fortran Compilers. Most of the considerations are however, valid in general with respect to engineering software development and programming for microcomputers.

Computer graphics is a powerful tool for visualization of the resulting solutions such as the display of the characteristic roots for the eigenvalues solution on a root locus plot and representation of acceleration levels versus the “Reduced Comfort Boundary” limits defined by the International Standards Organization” (ISO 2631-1985). In this paper some examples of these resulting outputs are presented and their significance discussed.     

具有随机道路输入的人—车—路闭环操纵系统的响应分析与操纵安全性评价

本文建立了一种平衡随机道路输入的数学模型。应用精细积分法，进行了具有此类随机道路输入的人－车－路闭环操纵系统响应的仿真研究与汽车的主动安全性评价。该方法不仅为精确算法，珂能缩短汽车主动安全性的评价周期，避免实车试验带来的巨大的经济负担。结合实例，说明该方法是正确的，其结果是有效而合理的。     

汽车平顺性时域仿真分析

采用虚拟试验场技术进行了汽车行驶平顺性的时域仿真。建立了面向汽车平顺性分析的整车刚弹耦合有限元模型,同时建立了脉冲输入路面模型和随机输入路面模型。采用1/3倍频带分布加速度均方根值方法及总加权方法对试验车辆的平顺性进行了评价。试验结果表明,运用虚拟试验场技术能够真实地反映汽车的行驶平顺性,仿真分析结果可靠。     

Adams/Car在整车平顺性研究中的应用

悬架的类型选择和参数设定决定了整车的平顺性,文章介绍了Adams/Car模块的功能特点,结合现代汽车开发流程要素以及各种类型悬架实例,着重阐述了Adams/Car模块在现代汽车整车平顺性设计中的应用.     

Active Suspension Control to Improve Vehicle Ride and Handling

In practice most active vehicle suspension work can be traced to two sources, Lotus' modal control and Karnopp's skyhook damper. A model is developed which allows comparison of different active suspension control algorithms. The Lotus modal control algorithm is reviewed, and compared with Karnopp's skyhook damper. It is shown that a tight inner closed loop allows the Lotus algorithm to achieve the inertial damping described by Kamopp for a single comer or quarter car. It is suggested that to achieve simultaneously high inertial damping and good disturbance rejection an inner force loop is desirable. A vehicle control scheme is presented which combines the Lotus modal decomposition with Karnopp's skyhook damper, allowing nearly optimal ride and simultaneously permitting modification of vehicle handling properties.     

车辆操纵稳定性及平顺性的协同优化研究

利用车辆多体动力学模型与多目标优化工具,对悬架弹簧、减振器及横向稳定杆特性进行操纵稳定性与行驶平顺性的协同优化仿真.结果表明汽车的操稳性和行驶平顺性的各项性能指标均得到了改善.     

Coupling Model of Vertical and Lateral Vehicle/Track Interactions

A new dynamic model of vehicle/track interaction is presented. The model considers the vehicle and the track as a whole system and couples the vertical interaction with the lateral interaction. The vehicle subsystem is modeled as a multi-body system with 37 degrees of freedom, which runs on the track with a constant velocity. The track substructure is modeled as a discretely supported system of elastic beams representing the rails, sleepers and ballasts. The normal contact forces between wheels and rails are described by Hertzian nonlinear elastic contact theory and the tangential wheel/ rail forces are decided by the creep theory. Numerical results are compared with those of conventional dynamic models of railway vehicles. Applications of the coupling model to the investigation of safety limits against derailment due to the track twist and the combined alignment and cross-level irregularities are reported at the end of the paper.     

Vertical Vibration Analysis of Vehicle/Imperfect Track Systems

Summary This paper studies the vertical vibration of a vehicle traveling on an imperfect track system. The car body and sleepers are modeled as Timoshenko beams with finite length, and the rail is assumed as an infinite Timoshenko beam with discrete supports. Imperfection of the track system comes from a sleeper lost partial support by the ballast. Since deflection of the rail is limited within a certain interval where the vehicle is passing over, the infinite domain problem can be transformed into a finite domain problem with moving boundary. In this work, the equations of motion of the car body, rail and sleepers are discretized first by the finite element method. The discretized equations of motion for the vehicle and track systems are then assembled, respectively. Finally, the Newmark method is applied to obtain the response of the vehicle and track systems at each time step. The effect of the vehicle speed on the response of the vehicle and track systems is investigated.     

基于ADAMS的随机路面输入平顺性仿真分析

为保护运输货物完好,需控制车箱底板处的振动加速度小于一定值。以某厢式货车为研究对象,利用ADAMS/View软件建立包括驾驶室、车架、悬架系统、车轴和轮胎、车厢等在内的整车垂直振动仿真模型,对建模中的关键问题进行详细论述,并在此基础上对所建立的整车模型进行随机路面输入下的平顺性仿真分析。其结果满足厂家所提出的要求,从而认为整车模型建立正确,为下一步对该车做设计分析提供依据。     

煤矿四驱指挥车悬挂设计及平顺性试验

设计了一种新型四轮驱动煤矿指挥车悬挂,通过对样车进行性能测试,说明悬挂参数与设计指标一致,对样车进行20-40km／h的道路试验,试验结果表明该车基本满足《QC／T474—1999客车平顺性评价指标及限值》指标要求,平顺性及舒适性满足矿用车辆的使用要求。     

Comparison Between Time and Frequency Domain Method in Vehicle Ride Comfort Analysis

依据国际标准ISO2631和国标GB/T4970《汽车平顺性随机输入行驶试验方法》,对某客车进行了行驶平顺性试验,重点研究了不同算法在平顺性分析中的差别.以FAMOS、VC&MATLAB为软件开发平台,在Parse-val定理基础上实现了时、频域两种算法.结果表明,各种算法计算结果差别不大但各有特点,时域法对峰值系数更加敏感,可用于从人体舒适性角度评价平顺性;频域法则适用于分析1/3倍频程各频带对人体振动的影响并为改善汽车平顺性提供依据,但存在精度较低、处理效率不高等问题.而频率法中两种谱估计法的对比结果表明,Welch经典谱估计法的一致性较差,而采用AR模型的Yule Walker估计法性能相对稳定.     

平顺性评价新、旧国际标准对比分析研究

从频率范围、测点位置、评价方法、评价结果等方面比较分析了平顺性评价的国际标准ISO2631的新版本(1997年版)和旧版本(1985年版)的区别.通过实际试验分析指出,新标准的定性评价结果更易于被用户或研制方接受;新标准中对综合振动的评价更全面、更准确;新标准的评价结果与驾乘者主观感觉能较好地吻合.     

Static and Dynamic Performance of Permanent Magnet Suspension for Maglev Transport Vehicle

The design and performance of a mechanical air gap controller for a maglev transport vehicle are described. The basic requirement for a functional design of the controller is derived first and its effectiveness is shown by experiments. After the construction of dynamic vehicle models dynamic characteristics of the maglev vehicle are introduced and the stability criteria for magnetic levitation are derived. The effect of a dead zone in the mechanical air gap controller and nonlinear characteristics of the magnets, which are expected to exert a large influence on vehicle levitation performance, are investigated by simulations. The simulation results show that a low control lever ratio causes sudden deterioration of the levitation performance if there exists a dead zone in the controller, and a suitable control lever ratio which is unaffected by the dead zone is proposed. Finally, field test results with an actual maglev transport vehicle are shown and the dynamic levitation performance of the vehicle is discussed.     

精密设备半挂运输车悬架匹配设计及运输平顺性仿真

为解决精密设备在半挂车运输中的振动问题,采用了一种半挂车鹅颈柔性牵引装置。在ADAMS中建立了整车多刚体动力学仿真模型,并对整车的悬架系统进行了匹配计算,通过随机路面输入的平顺性仿真分析,取得较好的结果,减轻了车辆对精密设备在运输过程中的振动破坏。     

汽车行驶平顺性评价方法研究及仿真分析

汽车平顺性是汽车NVH性能的评价指标之一。系统介绍了汽车行驶平顺性的客观评价方法,并结合某车型搭建整车行驶平顺性虚拟样机,进行了仿真分析评价。该方法可用于指导汽车行驶平顺性的改善以及悬架参数的优化。     

汽车座椅舒适性的主观和客观评价研究

在对座椅机械结构及人体脊骨生理结构分析的基础上,从主观和客观两方面针对腰托对汽车座椅舒适性影响进行了理论和试验研究。研究表明腰托装置的设计及安装对人体的体压分布有显著影响,设计合理的腰托装置可明显改善汽车座椅的舒适性。