Dynamic Simulation of Vibration Characteristics and Ride Quality of Superconducting EDS Train Considering Body with Flexibility
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A numerical model has been developed to investigate the dynamic characteristics of the Superconducting electrodynamic suspension (EDS) system. Modeling of the guideway with the surface irregularity and the Maglev vehicle are described. Numerical simulations were performed in Simulink to solve the coupled problem. A 3-D model of the electromagnetic system of the superconducting EDS train is established, and the computed real electromagnetic forces are coupled with the maglev train. The EDS train was simulated by using the SIMPACK multi-body dynamic program. The simulation was carried out by using two body models of rigid and flexible bodies. In order to use the modal information to construct the flexible car body, the finite element method and the ABAQUS software were used to construct it together with equivalent elements. The final framework is constructed in MATLAB/Simulink to simulate dynamics and electromagnetic forces together with the constructed simulation framework. In order to consider the interference caused by irregularities, randomness and power spectral density (PSD) are used to analyze vibration interactions. We compared random signal inputs with PSD, greatly enhancing accuracy, and analyzed the vibrational interaction between car body and ride quality.Keywords:
Maglev
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Dynamic simulation
Based on the German maglev vehicle TR06,a maglev vehicle/guideway model is established, where the guideway random irregularities are described in three subsections of irregularity wavelength. Using the numerical integration and the time-frequency transform method, the random responses of maglev vehicle are simulated and analyzed, and the ride quality of maglev vehicle is evaluated according to the UTACV power spectral density ride quality standard and the Sperling ride index method. The numerical results show that the main frequency of maglev carbody vibration is 0.5~1Hz, and for elevated guideway there are a periodic response at 2.2Hz due to periodic configure of rigid piers. Maglev carbody acceleration PSD meets the UTACV criterion and its acceleration amplitude is less than 0.05g which has became factual AGT vehicle standard. Whatever guideways the Sperling ride index of maglev vehicle is less than 2.5 when vehicle velocity is under 450km/h, so maglev vehicle ride comfort is excellent.
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The dynamic response of magnetically levitated (maglev) ground transportation systems has important consequences for safety and ride quality, guideway design, and system costs. Ride quality is determined by vehicle response and by environmental factors such as humidity and noise. The dynamic response of the vehicles is the key element in determining ride quality, while vehicle stability is an important safety-related element. To design a guideway that provides acceptable ride quality in the stable region, vehicle dynamics must be understood. Furthermore, the trade-off between guideway smoothness and levitation and control systems must be considered if maglev systems are to be economically feasible. The link between the guideway and the other maglev components is vehicle dynamics. For a commercial maglev system, vehicle dynamics must be analyzed and tested in detail. This report, which reviews various aspects of the dynamic characteristics, experiments and analysis, and design guidelines for maglev systems, discusses vehicle stability, motion dependent magnetic force components, guideway characteristics, vehicle/ guideway interaction, ride quality, suspension control laws, aerodynamic loads and other excitations, and research needs.
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Understanding the dynamic interaction between a magnetic levitated (Maglev) vehicle and its supporting guideway is essential in the evaluation of the performance of such a system. This interacting coupling, known as vehicle/guideway interaction (VGI), has a significant effect on system parameters such as the required magnetic suspension forces and gaps, vehicular ride quality, and guideway deflections and stresses. This report presents the VGI analyses conducted on an actual Maglev system concept definition (SCD), the American Maglev SCD, using a linear-elastic finite-element (FE) model. Particular interest was focused on the comparison of the ride quality of the vehicle, using two different suspension systems, and their effect on the guideway structure. The procedure and necessary assumptions in the modeling are discussed.
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The dynamic response of magnetically levitated (maglev) ground transportation systems has important consequences for safety and ride quality, guideway design, and system costs. Ride quality is determined by vehicle response and by environmental factors such as humidity and noise. The dynamic response of the vehicles is the key element in determining ride quality, and vehicle stability is an important safety-related element. To design a proper guideway that provides acceptable ride quality in the stable region, vehicle dynamics must be understood. Furthermore the trade-off between guideway smoothness and the levitation and control systems must be considered if maglev systems are to be economically feasible. The link between the guideway and the other maglev components is vehicle dynamics. For a commercial maglev system, vehicle dynamics must be analyzed and tested in detail. In this study, the role of dynamics and controls in maglev vehicle/guideway interactions is discussed, and the literature on modeling the dynamic interactions of vehicle/guideway and suspension controls for ground vehicles is reviewed. Particular emphasis is placed on modeling vehicle/guideway interactions and response characteristics of maglev systems for a multicar, multiload vehicle traveling on a single- or doublespan flexible guideway, including coupling effects of vehicle/guideway, comparison of concentrated and distributed loads, and ride comfort. Different control-law designs are introduced into vehicle suspensions when a simple two-degree-of-freedom vehicle model is applied. Active and semiactive control designs for primary and secondary suspensions do improve the response of vehicle and provide acceptable ride comfort. Finally, future research associated with dynamics and controls of vehicle/guideway systems is identified.
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The purpose of this paper is to present a framework to analyze the interaction between an actively controlled magnetic levitation vehicle and a guideway structure under gusty wind. The equation of motion is presented for a 30-dof maglev vehicle model consisting of one cabin and four bogies. In addition, a lateral electromagnetic suspension (EMS) system is introduced to improve the running safety and ride quality of the maglev vehicle subjected to turbulent crosswind. By using the developed simulation tools, the effects of various parameters on the dynamic response of the vehicle and guideway are investigated in the case of the UTM maglev vehicle running on a simply supported guideway and cable-stayed guideway. The simulation results show that the independent lateral EMS and associated control scheme are definitely helpful in improving the running safety and ride quality of the vehicle under gusty wind. In the case of the cable-stayed guideway, at low wind speed, vehicle speed is the dominant factor influencing the dynamic responses of the maglev vehicle and the guideway, but at wind speed over 10 m/s, wind becomes the dominant factor. For the ride quality of the maglev vehicle, wind is also the most influential factor.
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The dynamic response of maglev systems is important in several respects: Safety and ride quality, guideway design, and system costs. The dynamic response of vehicles is the key element in the determination of ride quality, and vehicle stability is one of the important elements relative to safety. To design a proper guideway that provides acceptable ride quality in the stable region, the vehicle dynamics must be understood. The trade-off between guideway smoothness and the levitation and control systems must be considered if maglev systems are to be economically feasible. This paper is a summary of our previous work on dynamics, stability and control of maglev systems. First of all, the importance of dynamics of vehicle/guideway of maglev systems is discussed. Emphasis is placed on the modeling vehicle/guideway interactions of maglev systems with a multicar, or multiload vehicle traversing on a single or double-span flexible guideway. Coupled effects of vehicle/guideway interactions in wide range of vehicle speeds with various vehicle and guideway parameters for maglev systems are investigated. Secondly, the alternative control designs of maglev vehicle suspension systems are investigated in this study to achieve safe, stable operation and acceptable ride comfort requires some form of vehicle motion control. Active andmore » semi-active control law designs are introduced into primary and secondary suspensions of maglev vehicles. Finally, this paper discusses the stability of maglev systems based on experimental data, scoping calculations, and simple mathematical models. Divergence and flutter are obtained for coupled vibration of a three-degree-of-freedom maglev vehicle on a guideway consisting of double L-shaped aluminum segments. The theory and analysis developed in this study provides basic stability characteristics and identifies future research needs for maglev systems.« less
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Abstract : Understanding the dynamic interaction between a magnetic levitated (Maglev) vehicle and its supporting guideway is essential in the evaluation of the performance of such a system. This interacting coupling, known as vehicle/guideway interaction (VGI), has a significant effect on system parameters such as the required magnetic suspension forces and gaps, vehicular ride quality, and guideway deflections and stresses. This report presents the VGI analyses conducted on an actual Maglev system concept definition (SCD), the American Maglev SCD, using a linear-elastic finite-element (FE) model. Particular interest was focused on the comparison of the ride quality of the vehicle, using two different suspension systems, and their effect on the guideway structure. The procedure and necessary assumptions in the modeling are discussed.
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In this paper, a controller design by H∞ control theory for active suspension of maglev vehicles by the use of superconducting magnets (SCM) is considered. The following two items are focused on for designing the controller. In maglev vehicles SCMs are very heavy. SCMs are intended to be suspended from trucks. The fundamental vibration model is composed of three masses and it is different from conventional suspensions of rail vehicles. Maglev vehicles are planned to be articulated vehicles. Enormous number of degrees of freedom exists for a model of a train. In this paper, it is shown by simulation that the H∞ controller functions successaully when applied to a three-mass system, i.e., good ride quality is obtained without a peak actuator output in the respective frequency domain, and in articulated vehicles, the H∞ controller can maintain a good of control when superpositioned for each direction of car-body vibration.
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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.
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The dynamic response of magnetically levitated (maglev) ground transportation systems has important consequences for safety and ride quality, guideway design, and system costs. Ride quality is determined by vehicle response and by environmental factors such as humidity and noise. The dynamic response of the vehicles is the key element in determining ride quality, and vehicle stability is an important safety-related element. To design a proper guideway that provides acceptable ride quality in the stable region, vehicle dynamics must be understood. Furthermore the trade-off between guideway smoothness and the levitation and control systems must be considered if maglev systems are to be economically feasible. The link between the guideway and the other maglev components is vehicle dynamics. For a commercial maglev system, vehicle dynamics must be analyzed and tested in detail. In this study, the role of dynamics and controls in maglev vehicle/guideway interactions is discussed, and the literature on modeling the dynamic interactions of vehicle/guideway and suspension controls for ground vehicles is reviewed. Particular emphasis is placed on modeling vehicle/guideway interactions and response characteristics of maglev systems for a multicar, multiload vehicle traveling on a single- or doublespan flexible guideway, including coupling effects of vehicle/guideway, comparison of concentrated and distributed loads, and ride comfort. Different control-law designs are introduced into vehicle suspensions when a simple two-degree-of-freedom vehicle model is applied. Active and semiactive control designs for primary and secondary suspensions do improve the response of vehicle and provide acceptable ride comfort. Finally, future research associated with dynamics and controls of vehicle/guideway systems is identified.
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Suspension
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