摘要
建立考虑传感器噪声和估计系统参数偏差的独立车轮轮对模型,并根据状态观测器理论,设计轨道车辆信息估计技术流程,仿真研究传感器噪声强度及估计系统参数(车轮踏面等效锥度、轮轨接触蠕滑系数、车轮半径和一系纵向刚度)偏差对轮对状态(轮对冲角、左右车轮相对转速)及线路曲率估计结果的影响,以验证估计系统的容错性。结果表明:轮对状态估计系统对传感器噪声表现出极强的容错性,偏差率不超过3%,而传感器噪声强度的增加对线路曲率的估计精度影响基本不变,线路曲率的估计误差主要源于轨道不平顺;轮对冲角的估计精度始终较高,对估计系统参数偏差具有较好的鲁棒性,左右车轮相对转速的估计偏差在一系纵向刚度存在偏差时必须修正,估计系统其他参数偏差的影响可以忽略,线路曲率的估计偏差与估计系统的参数偏差存在比例关系,便于修正。
Considering sensor noise and parameter errorin estimation system,an independent wheelset model was set up.According to state observer theory,the technical flow of information estimation for railwayvehicle was designed to simulate the influence of sensor noise intensity andparameter error in estimation system(including the equivalent conicity of wheel tread,the creep coefficient of wheel-rail contact,wheel radius and primary longitudinal stiffness)on the estimation results of wheelset state(including wheelset attack angle,the relative rotational speed of left and rightwheels)and track curvature,so as to verify the fault tolerance of estimation system.Results show that the estimation system of wheelset state exhibits avery strong fault tolerance for sensor noise,with an error rate of less than 3%.However,the influence of the increase in sensor noise intensity on the estimation accuracy of track curvature is basically unchanged.The estimation error of track curvature is mainly caused by track irregularity.The estimation accuracy of wheelset attack angle is always higher,and it owns a good robustness for the parameter error of estimation system.The estimation error of the relative rotational speed of left and right wheels must be corrected when there is an errorin primary longitudinal stiffness,but the influence of other parameter errorsof estimation system can be ignored.There is a proportional relationship between the estimation error of track curvature and the parameter error of estimation system,which is convenient for correction.
作者
孙效杰
陆正刚
程道来
SUN Xiaojie;LU Zhenggang;CHENG Daolai(School of Railway Transportation,Shanghai Institute of Technology,Shanghai 201418,China;Institute of Railway and Urban Mass Transit,Tongji University,Shanghai 201804,China)
出处
《中国铁道科学》
EI
CAS
CSCD
北大核心
2018年第5期97-102,共6页
China Railway Science
基金
中央财政支持地方高校发展专项资金资助项目(4521ZK160013002)
上海市科委地方能力建设项目(17090503500)
上海高校青年教师培养资助计划项目(ZZZZyyx16023)
关键词
轨道车辆
信息估计
容错性分析
状态观测器
轮对状态
线路曲率
传感器噪声
参数偏差
Railway vehicle
Information estimation
Fault tolerance analysis
State observer
Wheelset state
Track curvature
Sensornoise
Parameter error
