轮对空心轴架悬机车驱动系统动力学研究
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摘要
铁路机车的驱动系统将电能转换成机械能并驱动机车运行,是机车结构中的核心和关键部件之一。机车驱动系统的设计及其动力学分析是机车转向架设计及机车动力学研究的重要组成部分；同时,由于机车驱动系统的驱动电机等主要部件都布置在机车底部,工作条件恶劣,在输出动力的同时,将承受轮轨的强大冲击。随着铁路机车运行速度的不断提高,驱动系统的工作条件不断恶化,振动不断加剧,对驱动系统性能及机车运行性能的不利影响也愈加明显。为了保证列车高速运行时的高可靠性和绝对安全,必须对机车驱动系统动力学进行更全面和深入的分析研究。
本论文将机车的驱动系统定义为一个包括了牵引电机、轮对和驱动系统悬挂、动力传动等机械结构以及电机电气系统在内,考虑轮轨相互作用的复杂机电耦合动力学系统。论文主要针对采用轮对空心轴传动方式的架悬机车,在简要概述国内外驱动系统的结构发展以及驱动系统动力学研究现状的基础上,提出机车驱动系统中存在自激振动；并从驱动系统内在速度反馈引起的自激振动(驱动系统扭转自激振动)以及机电耦合导致的驱动系统自激振动(牵引电机谐波转矩)两个方面证明了机车驱动系统自激振动的确实存在,并在此基础上进一步展开研究。
在轮轨交通运输中,机车动轮和钢轨间的粘着力是驱动机车运行的最终动力。但同时,轮轨间的粘着系数在轮轨蠕滑速度较大时的衰减特性将会导致机车驱动系统产生扭转自激振动。本论文通过建立单轮对简单模型,对驱动系统扭转自激振动的发生条件、产生机理和影响因素等进行了分析研究。研究表明,当机车稳定蠕滑速度处于粘着系数曲线的下降段时,机车驱动系统将会发生扭转自激振动,其外在表现为轮轨间的粘滑振动。
为了研究驱动系统扭转自激振动与机车振动的关系及影响规律,论文基于车辆一轨道耦合动力学理论,利用弹性系统动力学总势能不变值原理建立了包括驱动系统在内的机车一板式轨道垂向耦合动力学模型、方程及仿真程序,并对影响自激振动的系统参数及自激振动对机车动力学性能的影响进行分析研究。研究表明,驱动系统的扭转自激振动将对机车动力学性能,尤其是垂向动力学性能产生影响,在对机车动力学进行分析研究时,有必要考虑驱动系统自激振动的影响。
机车牵引异步电机的输出转矩包含有振动谐波转矩,这将使电机转矩产生脉动,从而对驱动系统以及机车系统的动力学性能产生影响。论文通过对异步电机谐波转矩的简要分析,给出了谐波转矩的计算公式；对牵引异步电机谐波转矩频率及驱动系统振动频率进行了分析；建立了机车驱动状态下的动力学仿真模型,并对谐波转矩对机车及牵引电机的动力学影响进行了计算分析。
当前,我国有大量机车转向架都采用了驱动系统刚性架悬方式,但为了更好地满足200km／h的运行要求,需要进一步将刚性架悬改进成为弹性架悬。为了研究弹性架悬对机车动力学性能的改善,论文对架悬机车驱动系统的悬挂特性进行了动力学研究；并对弹性架悬的关键参数进行了分析；探讨了驱动系统3点全弹性架悬的可行性。
The driving system is an essential component in a locomotive. The driving systems can convert mechanical energy into electrical energy and drive the locomotive. The structural design and dynamics of the driving system have become an important part of the bogie design and locomotive dynamics. Further more, the main parts of the driving system are installed at the bottom of the locomotive, they will sustain the powerful strike of the rail/wheel force while they export power. So the operating conditions of the driving system are very servere, and the conditions will get worse and the vibration of the driving system will deteriorate with the increase of the railway vehicle speed. All these will have a negative impact on the dynamic performance of the driving system and the locomotive. In order to ensure the reliability and safety of the locomotive, it is necessary and important to make an intensive study on the dynamics of the driving system.
In this dissertation, the driving system of the locomotive is defined as an electromechanical coupling system including the traction motor, the wheelset, the suspension of driving equipment and the constructs of a drive system, which consider the interaction between the wheel and the rail. The work in this dissertation focuses on the driving system of locomotive with wheelset quill shaft and bogie-mounted motor. This thesis briefly reviews the history and the current situation of the structure and dynamics of the driving system. Based on these studies, this document proposes that there are self-excited vibrations in the driving system, and proves the existence of the self-excited vibrations through two aspects: one is caused by the speed feedback in the driving system (self-excited torsional vibration of locomotive drive system); another is caused by electro-mechanical coupling effects (harmonic torques of asynchronous traction motor).
In railways, the adhesion force between the wheel and the track is the ultimate motivation force which drives the train forward. But because of the attenuation characteristics of the adhesion coefficient, the self-excited torsional vibration will occur when the slip velocity reaches a greater value. In order to investigate the self-excited torsional vibration of locomotive driving system, a single wheelset model is built and the mechanism of the vibration is analyzed. The investigation results indicate that the self-excited torsional vibration will occur when the initial slip velocity is located at the descending slope of the adhesion coefficient curve, and it appears in the form of stick-slip vibration.
For the purpose of investigating the interrelation and interference between the locomotive dynamics and the driving system self-excited torsional vibration, a locomotive and slab track vertical coupled dynamics model is established in this dissertation based on the vehicle-track coupled dynamics and the principle of total potential energy with stationary value in elastic system dynamics. Dynamics equations are set up, a MATLAB program is applied to simulate the parameters and dynamics of the self-excited torsional vibration. The simulation results indicate that the self-excited torsional vibration has effect on dynamic performances of locomotive, especially on vertical dynamics. So it is essential to consider these effects when investigate locomotive dynamics.
The driving system of the locomotive is an electromechanical coupling system. The traction torque of asynchronous traction motor includes harmonic torques. Due to the harmonic torques, rotational speed pulsation will be presented in the traction asynchronous motor, which will affect the locomotive dynamics. Firstly, this dissertation analyzs the harmonic torque of traction asynchronous motor and proposes the calculation expressions for harmonic torques. Secondly, this paper studies the frequencies of the harmonic torques and establishes a complete dynamics model of locomotive. Lastly, a simulation program is provided and the tangent dynamics and curve negotiating dynamics of locomotive are simulated.
Considering that the bogie-mounted motor is massively applied in China, it is essential to use the elastic bogie-mounted suspensions instead of the rigid suspensions to meet the requirements of the new 200km/h locomotive. In order to investigate the dynamics of the locomotive with elastic bogie-mounted motor, a complete dynamics model of locomotive is established. The dynamics of elastic bogie-mounted suspension locomotive are simulated and compared with the tradition locomotive with rigid bogie-mounted motor. The key parameters of the elastic suspension and the feasibility of using the 3-points full elastic bogie-mounted driving equipment are also analyzed in this dissertation.
本论文将机车的驱动系统定义为一个包括了牵引电机、轮对和驱动系统悬挂、动力传动等机械结构以及电机电气系统在内,考虑轮轨相互作用的复杂机电耦合动力学系统。论文主要针对采用轮对空心轴传动方式的架悬机车,在简要概述国内外驱动系统的结构发展以及驱动系统动力学研究现状的基础上,提出机车驱动系统中存在自激振动；并从驱动系统内在速度反馈引起的自激振动(驱动系统扭转自激振动)以及机电耦合导致的驱动系统自激振动(牵引电机谐波转矩)两个方面证明了机车驱动系统自激振动的确实存在,并在此基础上进一步展开研究。
在轮轨交通运输中,机车动轮和钢轨间的粘着力是驱动机车运行的最终动力。但同时,轮轨间的粘着系数在轮轨蠕滑速度较大时的衰减特性将会导致机车驱动系统产生扭转自激振动。本论文通过建立单轮对简单模型,对驱动系统扭转自激振动的发生条件、产生机理和影响因素等进行了分析研究。研究表明,当机车稳定蠕滑速度处于粘着系数曲线的下降段时,机车驱动系统将会发生扭转自激振动,其外在表现为轮轨间的粘滑振动。
为了研究驱动系统扭转自激振动与机车振动的关系及影响规律,论文基于车辆一轨道耦合动力学理论,利用弹性系统动力学总势能不变值原理建立了包括驱动系统在内的机车一板式轨道垂向耦合动力学模型、方程及仿真程序,并对影响自激振动的系统参数及自激振动对机车动力学性能的影响进行分析研究。研究表明,驱动系统的扭转自激振动将对机车动力学性能,尤其是垂向动力学性能产生影响,在对机车动力学进行分析研究时,有必要考虑驱动系统自激振动的影响。
机车牵引异步电机的输出转矩包含有振动谐波转矩,这将使电机转矩产生脉动,从而对驱动系统以及机车系统的动力学性能产生影响。论文通过对异步电机谐波转矩的简要分析,给出了谐波转矩的计算公式；对牵引异步电机谐波转矩频率及驱动系统振动频率进行了分析；建立了机车驱动状态下的动力学仿真模型,并对谐波转矩对机车及牵引电机的动力学影响进行了计算分析。
当前,我国有大量机车转向架都采用了驱动系统刚性架悬方式,但为了更好地满足200km／h的运行要求,需要进一步将刚性架悬改进成为弹性架悬。为了研究弹性架悬对机车动力学性能的改善,论文对架悬机车驱动系统的悬挂特性进行了动力学研究；并对弹性架悬的关键参数进行了分析；探讨了驱动系统3点全弹性架悬的可行性。
The driving system is an essential component in a locomotive. The driving systems can convert mechanical energy into electrical energy and drive the locomotive. The structural design and dynamics of the driving system have become an important part of the bogie design and locomotive dynamics. Further more, the main parts of the driving system are installed at the bottom of the locomotive, they will sustain the powerful strike of the rail/wheel force while they export power. So the operating conditions of the driving system are very servere, and the conditions will get worse and the vibration of the driving system will deteriorate with the increase of the railway vehicle speed. All these will have a negative impact on the dynamic performance of the driving system and the locomotive. In order to ensure the reliability and safety of the locomotive, it is necessary and important to make an intensive study on the dynamics of the driving system.
In this dissertation, the driving system of the locomotive is defined as an electromechanical coupling system including the traction motor, the wheelset, the suspension of driving equipment and the constructs of a drive system, which consider the interaction between the wheel and the rail. The work in this dissertation focuses on the driving system of locomotive with wheelset quill shaft and bogie-mounted motor. This thesis briefly reviews the history and the current situation of the structure and dynamics of the driving system. Based on these studies, this document proposes that there are self-excited vibrations in the driving system, and proves the existence of the self-excited vibrations through two aspects: one is caused by the speed feedback in the driving system (self-excited torsional vibration of locomotive drive system); another is caused by electro-mechanical coupling effects (harmonic torques of asynchronous traction motor).
In railways, the adhesion force between the wheel and the track is the ultimate motivation force which drives the train forward. But because of the attenuation characteristics of the adhesion coefficient, the self-excited torsional vibration will occur when the slip velocity reaches a greater value. In order to investigate the self-excited torsional vibration of locomotive driving system, a single wheelset model is built and the mechanism of the vibration is analyzed. The investigation results indicate that the self-excited torsional vibration will occur when the initial slip velocity is located at the descending slope of the adhesion coefficient curve, and it appears in the form of stick-slip vibration.
For the purpose of investigating the interrelation and interference between the locomotive dynamics and the driving system self-excited torsional vibration, a locomotive and slab track vertical coupled dynamics model is established in this dissertation based on the vehicle-track coupled dynamics and the principle of total potential energy with stationary value in elastic system dynamics. Dynamics equations are set up, a MATLAB program is applied to simulate the parameters and dynamics of the self-excited torsional vibration. The simulation results indicate that the self-excited torsional vibration has effect on dynamic performances of locomotive, especially on vertical dynamics. So it is essential to consider these effects when investigate locomotive dynamics.
The driving system of the locomotive is an electromechanical coupling system. The traction torque of asynchronous traction motor includes harmonic torques. Due to the harmonic torques, rotational speed pulsation will be presented in the traction asynchronous motor, which will affect the locomotive dynamics. Firstly, this dissertation analyzs the harmonic torque of traction asynchronous motor and proposes the calculation expressions for harmonic torques. Secondly, this paper studies the frequencies of the harmonic torques and establishes a complete dynamics model of locomotive. Lastly, a simulation program is provided and the tangent dynamics and curve negotiating dynamics of locomotive are simulated.
Considering that the bogie-mounted motor is massively applied in China, it is essential to use the elastic bogie-mounted suspensions instead of the rigid suspensions to meet the requirements of the new 200km/h locomotive. In order to investigate the dynamics of the locomotive with elastic bogie-mounted motor, a complete dynamics model of locomotive is established. The dynamics of elastic bogie-mounted suspension locomotive are simulated and compared with the tradition locomotive with rigid bogie-mounted motor. The key parameters of the elastic suspension and the feasibility of using the 3-points full elastic bogie-mounted driving equipment are also analyzed in this dissertation.
引文
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