Um04 Tu Wien Schan
-
Upload
muce01122917 -
Category
Documents
-
view
234 -
download
0
Transcript of Um04 Tu Wien Schan
-
8/12/2019 Um04 Tu Wien Schan
1/19
Simulation of an ActiveVibration Control for
Flexible Railway Car BodiesGerhard Schandl
Institute of Mechanics and Mechatronics
Vienna University of Technology
6th SIMPACK User Meeting 2004
-
8/12/2019 Um04 Tu Wien Schan
2/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 2004
2
Motivation
Low vibration level crucial for good ride comfort
Maximum human vibration responsiveness between 4
and 8 Hz (e. g. ISO 2631) Low damped eigenfrequencies of lightweight car bodies
near this region
Great influence of car body structural flexibility
-
8/12/2019 Um04 Tu Wien Schan
3/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 2004
3
Motivation
Conventional solution: Stiffening of car body structure
to increase eigenfrequency
Stiffening of structure increases weight
New solution: Active vibration control
Actuators and sensors connected via a control loop
change the car body frequency response
-
8/12/2019 Um04 Tu Wien Schan
4/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 2004
4
Introduction and Overview
Integration of elastic bodies in SIMPACK by modal
transformation of FE-data
Deformation
eigenmodes, modal coordinates
Modal mass matrix
Modal stiffness matrix
( ) ( ) ( )tt
qR
Ru =
,( )R ( )tq
MM Tee =
KK Tee =
-
8/12/2019 Um04 Tu Wien Schan
5/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 2004
5
Introduction and Overview
Active vibration control
Using actuators and a control loop to increase
damping of selected eigenmodes
Actuator/Sensor: piezoceramics
-
8/12/2019 Um04 Tu Wien Schan
6/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 2004
6
Piezo actuators and sensors
Actuator: applied voltage strain or applied
voltage - Force
Sensor: Strain electr. charge or
strain - voltage
Maximum stroke up to about 100 m using
stack actuators
Maximum forces up to
Stack actuator
Pre-stressing spring
Piezo-disc
Casing
Wires
Electrodeh
St
UN105
-
8/12/2019 Um04 Tu Wien Schan
7/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 2004
7
Piezo actuators and sensors
Actuator force proportional
to applied voltage at stroke=0
Actuator force depends onstroke
F
l
l
Fmax
max
0
U
-
8/12/2019 Um04 Tu Wien Schan
8/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 2004
8
Controller Design
Differential equation of the flexible body with actuators
Sensor equation
Obtain linear state-space model:
LQ-state observer to reconstruct an estimate of the state vectorBuAxx
+=&DuCxy
+=
( )Tqqx &=
uKqKqDqM
eeeeeee =++ &&&
( ) uKqKQ += T
e
-
8/12/2019 Um04 Tu Wien Schan
9/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 20049
Controller Design
Pole placement using
state feedback
Increase damping for
controlled modes from
2% to 30%
controlled system
Bw
B
Aw
Aestimator
Cw
C
L
K
w y
x(0)
x
+_
+
+
+
+ +
+
+
+
+
+_
u x
x(0)
x
x
^
^ y
.
.
controller
actuators sensors
-
8/12/2019 Um04 Tu Wien Schan
10/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 200410
Co-Simulation usingSIMPACK/Simulink
SIMPACK model of a metro vehicle with flexible car body
Flexibility of car body described by 17 Eigenmodes
-
8/12/2019 Um04 Tu Wien Schan
11/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 200411
Co-Simulation usingSIMPACK/Simulink
Active vibration control
damping of
1st vertical bending mode
1st torsion mode and
1st diagonal distorsion
increased to 30 %
-
8/12/2019 Um04 Tu Wien Schan
12/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 200412
Co-Simulation usingSIMPACK/Simulink
Placing of 12 actuators
Calculation of 12 additional Frequency Response Modes
Total of 29 shape functions for flexible car body
Adding spring-damper elements at actuator positions to include actuator
stiffness
Placing 12 sensors at actuator positions
actuator 1 actuator 2 actuator 3 actuator 4 actuator 5 actuator 6
actuator 7 actuator 8
actuator 9 actuator 10actuator 11 actuator 12
-
8/12/2019 Um04 Tu Wien Schan
13/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 200413
Co-Simulation usingSIMPACK/Simulink
Observer-based state feedback controller
High-pass filter for static deformation
Low-pass filter to reduce sensor noise
Controller realized using Matlab/Simulink
-
8/12/2019 Um04 Tu Wien Schan
14/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 200414
Co-Simulation usingSIMPACK/Simulink Observer based controller in Matlab/Simulink
sensor 1-12actuator 1-12
state
estimator
-
8/12/2019 Um04 Tu Wien Schan
15/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 200415
Simulation ResultsRide comfort on a straight track with irregularities DB High (considered period
t=36s, s=800m, v=22m/s)
Vertical acceleration above bogie 1
ISO 2631 weighted RMS
Vertical acceleration above bogie 1
near left sidewall, frequency spectrum
-
8/12/2019 Um04 Tu Wien Schan
16/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 200416
Simulation ResultsRide comfort on a straight track with irregularities DB High (considered period
t=36s, s=800m, v=22m/s)
Vertical acceleration car centre
ISO 2631 weighted RMS
Vertical acceleration car centre
centre, frequency spectrum
-
8/12/2019 Um04 Tu Wien Schan
17/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 200417
Simulation ResultsRide comfort on a straight track with irregularities DB High (considered period
t=36s, s=800m, v=22m/s)
Vertical acceleration above bogie 2
ISO 2631 weighted RMS
Vertical acceleration above bogie 2
near right sidewall, frequency spectrum
-
8/12/2019 Um04 Tu Wien Schan
18/19
actuator 1 actuator 2 actuator 3 actuator 4 actuator 5 actuator 6
actuator 7 actuator 8
actuator 9 actuator 10actuator 11 actuator 12
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 200418
Simulation Results
Maximum actuator force and stroke(actuator 10)
Actuator force, actuator 10
-
8/12/2019 Um04 Tu Wien Schan
19/19
G. Schandl, 6th SIMPACK User Meeting, Nov. 9-10 200419
Conclusion and further activities
Simulation of complex controlled flexible multibody systems
possible
Investigation of more sophisticated control algorithms
Investigation of controller robustness
Optimization of sensor and actuator placement