dynamic and decoupling analysis of the bogie with...
TRANSCRIPT
Dynamic and Decoupling Analysis of the Bogie with
Single EMS Modules for Low-speed Maglev Train
Yougang Sun*1, 2
, Wanli Li1, Daofang Chang
2, Yuanyuan Teng
2
1 School of Mechanical Engineering, Tongji University, 201804, China 2 College of Logistics Engineering, Shanghai Maritime University, 201306, China
Abstract. In order to analyze the decoupling capacity of the bogie of low speed
maglev train, a dynamic multi-degree model of rising, falling, nodding and
rolling movement of the maglev bogie is built. A single maglev bogie
decoupling test platform is established. The experimental test results are
included to demonstrate the decoupling capacity of the low-speed maglev train
bogie and provide an important evidence for simplifying the whole train
suspension control into single EMS Module suspension control.
Keywords: decouple; low speed maglev train; dynamics; bogie; single EMS
module.
1 Introduction
Low speed maglev transportation technology with prominent advantages of the low
operating noise, small turning radius, strong climbing ability and the less maintenance
costs is becoming a new type of urban rail transit [1-3]
. The bogie frame is the core
component of the maglev train’s operation and control system. The characteristics of
the bogie frame are not only related to the safety and comfort of the vehicle, but also
have a decisive influence on the design of the suspension control algorithm and the
rail system [4]
. So we need to conduct a thorough study of the characteristics of the
bogie frame.
Fig. 1. Structure of the MAGLEV train
Advanced Science and Technology Letters Vol.121 (AST 2016), pp.83-88
http://dx.doi.org/10.14257/astl.2016.121.16
ISSN: 2287-1233 ASTL Copyright © 2016 SERSC
Fig. 2. Structure of the maglev bogie frame
In the world, the low-speed maglev trains adopt different types of anti-rolling
mechanism as bogie frame. South Korean UTM-02 maglev trains use an anti-roll sill
with a suspension module to realize the anti-roll decoupling [5]
. But the maglev trains
of the commercial operation line in Inchon use the steeve type anti roll decoupling
mechanism [6]
. In China, most of the middle and low speed maglev test vehicles use
the steeve type anti roll decoupling mechanism [4, 7-8]
. At present, there is little
research on the structure decoupling of the low speed maglev bogie frame structure.
The kinematic requirements of single bogie frame to realize the mechanical
decoupling based on the D-H transform is proposed by Zhang Kun[9]
and Zhang Gen[7]
etc.. But they didn’t figure out the bogie frame’s dynamics analysis. Jiang Haibo [10]
etc. analyzed the working principles of the anti-roll decoupling mechanism of bogie
frame, and analyzed the design requirements of the decoupling mechanism according
to the motion relationship between bogie frame and the rail.
In this paper, the dynamic multi-degree model of rising, falling, nodding and
rolling movement of the maglev bogie is built and decoupling capability of the low
speed maglev bogie frame is analyzed by experimental test.
2 Low-speed Maglev Train Bogie Frame Structure
The low speed maglev train system adopts the distributed structure. The vehicle body
includes two parts, which are the carriage and the bogie frame. Each carriage is
supported by 3-4 identical but independently controlled bogie frames, and the bogie
frame and carriage are connected by an air spring. The physical structure of the bogie
frame is shown in Figure 2.
To the bogie frame of the low speed maglev train, the motion of the left and right
modules in the movement process must be decoupled. The so-called decoupling refers
to the relative position between the left and right modules, which can be realized by
the motion of the joints of the lateral roll. The bogie frame makes the interaction
between 4 Single EMS Modules in a very small range, which can realize the stable of
the whole bogie frame by the independent single EMS module control.
Advanced Science and Technology Letters Vol.121 (AST 2016)
84 Copyright © 2016 SERSC
3 Dynamic Modeling of Maglev Bogie
Fig. 3. Dynamic model of the bogie frame
The dynamic model of the bogie frame is shown in Figure 3. Assume the bogie frame
as a rigid body, it can be simplified as a vibration system composed of two rigid
bodies, which are connected with each other by the elastic damping element (Kb, Cb).
Each rigid body has three degrees of freedom, which are ups and downs, nodding and
rolling. The vertical levitation force of the electromagnet in Single EMS Module is
equivalent to the spring damper suspension (Kp, Cp), which means to linearize the
suspension force at the equilibrium point.
According to Figure 3, we can get the whole bogie dynamic equations in the
directions of ups and downs, the pitch and lateral roll.
2 2 2
1 1 1
2 2 2
1 1 1
(2 ) (2 )
(2 ) (2 )
l l li l p l li p l li
i i i
r r p r ri p r ri ri r
i i i
m z F m g C z W K z W
m z C z W K z W F m g
2 2
1 1 1 2 1 1 1 2 1 2 2
2 2
1 2 2 1 1 1 2 1 1 1 2
[2 ( )] [2 ( )] ( )
( ) [2 ( )] [2 ( )]
l l P l l l p l l l l l
r r r r P r r r p r r r
J C l l W W K l l W W F F l
J F F l C l l W W K l l W W
2 2 2 2
2 2 2 2
[( ) 2 ( )( )] 2 [( )
2 ( )( )])] 2
[( ) 2 ( )( )] 2 [( )
2 ( )(
l l b b l b l b l r l b b l
b l b l r l
r r b b r b r b l r r b b r
b r b l r
J C l l l l l l z z C K l l
l l l l z z K
J C l l l l l l z z C K l l
l l l l z z
)])] 2 rK
Advanced Science and Technology Letters Vol.121 (AST 2016)
Copyright © 2016 SERSC 85
4 Test for the Bogie Frame’s Capacity of Decoupling
4.1 Test Philosophy
Sensors and jacks are applied to the bogie frame which has shown in Fig.5. Jacks are
adjusted to make the four corners of the bogie frame in one plane. Then, one of the
four corners will be jacked up from 0mm to 25mm and the data of the pressure
sensors and the displacement of the bogie beam can be read. The variation of the four
forces and the four displacements can be obtained by jacking up the four corners one
by one and the degree of coupling can be obtained, while the capacity of decoupling
can also be got.
1—jack, 2—pressure sensor, ①②③④—displacement sensor
Fig. 4. Test platform
4.2 Test Results
In order to analyze the influence of the pivot on the displacements and loads of each
point, the initial value of the displacements and the loads will be subtracted and listed
in table 1. According to table 1, when pivot 1 is being jacked up, the variation of the
diagonal pivot’s load is in accordance with the variation of the pivot’s load and the
variation of the adjacent pivots are also in accordance. The displacement of pivot is
quite big while the other three pivots are quite small (all about 1.0mm), which is
satisfying to the decoupling requirements. The results for the pivot 1 and the other
three pivots are quite similar. So, we only give the test results of pivot 1 in this paper.
Advanced Science and Technology Letters Vol.121 (AST 2016)
86 Copyright © 2016 SERSC
Table 1. The vertical displacement change table-- pivot 1 load
NO
.
Displac
ement
increme
nt
(mm)
Point 1 Point 2 Point 3 Point 4
Stres
s
(kN)
Displa
cemen
t (mm)
Stress
(kN)
Displace
ment
(mm)
Stress
(kN)
Displa
cemen
t
(mm)
Stress
(kN)
Displa
cemen
t (mm)
1 2.18 0.23 2.18 -0.17 -0.01 0.22 0.01 -0.26 0.03
2 5.82 0.48 5.82 -0.45 -0.01 0.53 -0.03 -0.53 0.10
3 10.44 0.71 10.44 -0.68 -0.01 0.76 -0.07 -0.73 0.19
4 15.07 0.86 15.07 -0.76 -0.01 0.86 -0.09 -0.84 0.21
5 20.18 1.11 20.18 -1.02 -0.01 1.09 -0.14 -1.05 0.36
6 25.33 1.44 25.33 -1.35 -0.02 1.43 -0.22 -1.39 0.61
The test results show that vertical displacements of single EMS modules are not
interacting with each other in a certain range, decoupling capacity of the bogie is
excellent
5 Conclusions
(1) A dynamic multi-degree model of rising, falling, nodding and rolling movement
of the maglev bogie is built. The simulation proves the decoupling capacity of the
bogie in theory.
(2) The experimental test results demonstrate the single EMS modules on bogie are
not interacting with each other, which can realize the stable of the whole bogie frame
by the independent single EMS module control.
References
1. Thornton, R.D.: Efficient and Affordable Maglev Opportunities in the United States [J].
Proceedings of the IEEE, 2009, 97(11): 1901-1921.
2. Lee, H. W., Kim, K.C., Lee, J.: Review of Maglev Train Technologies [J]. IEEE
Transactions on Magnetics, 2006, 42(7): 1917-1925.
3. Liu, SK., An, B., Liu, SK., Guo, ZJ.: Characteristic research of electromagnetic force for
mixing suspension electromagnet used in low-speed maglev train [J]. IET Electric Power
Applications, 2015, 9(3): 223-228.
4. Liu, Y. Z., Deng, W., Li, J.: Research on the Anti-rolling and decoupling characteristics of
maglev bogies [J]. Journal of the China railway Society, 2014, 36(3): 37-41.
5. Yim, B. H., Han, H. S., Lee, J. K.: Curving Performance Simulation of an EMS-type
maglev vehicle [J]. Vehicle System Dynamics, 2009, 47(10): 1287-1304.
6. Han, J. W., Kim, J. D., Song, S. Y.: Fatigue Strength Evaluation of a Bogie Frame for
Urban Maglev Train with Fatigue Test on Full-scale Test Rig [J]. Engineering Failure
Analysis, 2013, (31): 412-420.
7. Zhang, G., Li, J., Li, J.: Kinematics Study on Anti-roll Boom of Low-speed Maglev train
[J]. Journal o f the China Railway Society, 2012, 34(4): 28-33.
Advanced Science and Technology Letters Vol.121 (AST 2016)
Copyright © 2016 SERSC 87
8. Han, Q., Yang, Y., Yao, X.: Dynamics of Urban-rail Magnetic Levitation Vehicle with Five
Bogies [J]. Journal of South China University of Technology: Natural Science Edition,
2010, 38(1): 102-107.
9. Zhang, K., Li, J., Chang, W.: Structure Decoupling Analysis of Maglev Train Bogies [J].
Electric Drive for Locomotives, 2005, (1): 22-29.
10. Jiang, H., Luo, S., Dong, Z.: Analysis of Anti-rolling Sill on Middle or Low Speed
Magnetic Levitaion Train [J]. Rails and Trains, 2006, 44(11): 8-10.
11. Dursun, M., Boz, A.F.: The Analysis of Different Techniques for Speed Control of
Permanent Magnet Synchronous Motor. Tehnicki Vjesnik-Technical Gazette, 2015, 22(4),
947-952.
12. Susnea, I., Axenie, C.: Cognitive Maps for Indirect Coordination of Intelligent Agents [J].
Studies in Informatics and Control, 2015, 24(1): 111-118.
13. Sagi, G., Lulic, Z., Ilincic, P.: Multi-objective Optimization Model in the Vehicle
Suspension System Development Process. Tehnicki Vjesnik-Technical Gazette, 2015,
22(4), 1021-1028.
Advanced Science and Technology Letters Vol.121 (AST 2016)
88 Copyright © 2016 SERSC