围绕磁悬浮列车研究，本期精选发表于《交通运输工程学报》的5篇双语文章，欢迎阅读！
精选文章Selected Articles
01
磁悬浮列车超导磁体电磁激振试验台设计
Design of electromagnetic vibration test bench for maglev superconducting magnets
【摘要】梳理了轮轨列车、电磁悬浮列车、超导钉扎悬浮列车与超导电动悬浮列车台架试验台的研究进展，分析了超导电动悬浮列车推进线圈与悬浮线圈在超导线圈侧产生的空间磁场分布，提出了超导磁体电磁激振试验台的总体方案；介绍了电磁激振试验台核心组成子系统激磁模组和变流系统，提出了变流系统的多频复合电流闭环控制策略；仿真对比了超导磁体在线上运行和电磁激振线下模拟2种工况下的背景空间磁场、电磁载荷与振动加速度响应。研究结果表明：推进线圈和悬浮线圈主要空间谐波磁场阶次分别为2次和5次，对应引起超导线圈产生3倍频和6倍频电磁力波动；通流控制策略可实现二十四相激磁模组直流、3倍频和6倍频电流的控制；电磁激振试验台获取的主要电磁载荷与真实运行情况比较吻合，其中稳态推进力误差不大于3.4%，稳态悬浮力误差不大于8.0%，主要的3倍频与6倍频转矩误差分别不大于6.5%、8.5%；超导磁体各测点加速度响应的线上运行值及线下模拟值趋势与幅值基本吻合。可见，该试验台能够很好地复现实际运行环境下车载超导磁体的背景磁场、电磁载荷与加速度响应，总体方案的有效性得到验证。
【Abstract】The research progresses of test benches of the wheel-rail train, electromagnetic suspension train, superconducting pinned suspension train, and superconducting electrodynamic suspension train were reviewed. The spatial magnetic field distribution on the superconducting coil side generated by the propulsion coils and levitation coils of the superconducting electrodynamic suspension train was analyzed. The overall solution of the electromagnetic vibration test bench for superconducting magnets was proposed, and the excitation module serving as the subsystem, and the converter system were introduced, which were core components of the electromagnetic vibration test bench. In addition, a multi-frequency composite current closed-loop control strategy for the converter system was proposed. The background spatial magnetic field, electromagnetic load, and vibration acceleration response of superconducting magnets under online operation and offline electromagnetic vibration simulation were simulated and compared. Research results indicate that the main spatial harmonic magnetic field orders of the propulsion coils and levitation coils are the second and the fifth, respectively. Correspondingly, they cause electromagnetic force fluctuations in the third and sixth harmonic frequencies of the superconducting coils. The current control strategy can achieve the control of the 24-phase excitation modules direct current, as well as third and sixth harmonic currents. The main electromagnetic loads obtained by the electromagnetic vibration test bench are consistent with the actual operating conditions. Specifically, the steady-state propulsion force error is no more than 3.4%, the steady-state levitation force error is no more than 8.0%, and the torque errors of the main third and sixth harmonic frequencies are no more than 6.5% and 8.5%, respectively. The trends and amplitudes of online operation values and offline simulation values of acceleration responses of each observation point of the superconducting magnets are basically consistent. It can be seen that the test bench can well reproduce the background magnetic field, electromagnetic load, and acceleration response of the on-board superconducting magnets in the actual operating environment, and the effectiveness of the overall solution has been verified.
02
磁浮列车悬浮系统LSTM与MGD融合的在线异常检测方法
Online anomaly detection method integrating LSTM and MGD for suspension system of maglev trains
【摘要】针对磁浮列车悬浮系统的在线异常检测问题，提出了一种基于长短时记忆（LSTM）神经网络与多元高斯分布（MGD）的检测方法；建立学习悬浮系统正常运行的LSTM时间序列预测模型，得到了正常情况下的预测误差；基于间隙、电流和加速度的预测误差，建立了反映正常情况下预测误差分布特性的MGD模型；以对数概率密度作为检测指标，设计了在线检测逻辑，并以F1分数作为检测效果衡量指标设置阈值；为了验证所提方法的有效性，利用磁浮列车运营线数据模拟在线数据，采用所提方法对过轨道接缝异常、砸轨异常和加速度信号异常进行了检测与分析。研究结果表明：在检测以上3类异常时，所提方法的F1分数分别达到了100.00%、97.85%和83.33%，所提方法的检测指标在正常和异常情况下对比明显，可以反映出悬浮系统产生异常到调整好的具体时间段，并且算法平均耗时约2 s；相较于基于超球体高斯分布方法，所提方法检测率平均提高了1.9%，其中对于持续时间短的过轨道接缝异常的检测率提高了9.4%。可见，所提方法可以对悬浮系统状态数据进行异常在线检测。
【Abstract】In view of online anomaly detection of suspension system of maglev trains, a detection method based on long short-time memory (LSTM) neural network and multivariate Gaussian distribution (MGD) was proposed. The LSTM time series prediction model for learning the normal operation of the suspension system was established, and the prediction errors under normal conditions were obtained. Based on the prediction errors of the gap, current, and acceleration, the MGD model reflecting the distribution characteristics of the prediction errors under normal conditions was built. The log probability density was used as the detection indicator, the online detection logic was designed, and the threshold was set usingF1score as the evaluation criterion of the detection effect. To verify the effectiveness of the proposed method, the operation line data of the maglev train were used to simulate online data, and the proposed method was applied to detect and analyze track crossing joint, rail smashing, and acceleration signal anomalies. Research results show that theF1scores of the proposed method for detecting the above three anomalies are 100.00%, 97.85%, and 83.33%, respectively. The detection indicators of the proposed method are significantly different between normal and abnormal conditions, reflecting the specific time period from anomaly occurrence of the suspension system to normal adjustment, and the algorithm takes about 2 s on average. Compared with the method based on the Gaussian distribution of hyperspheres, the proposed method achieves an average improvement of 1.9% in detection rate. Specifically, it achieves a 9.4% increase in detecting short-duration track crossing joint anomaly. Therefore, the proposed method can achieve online anomaly detection of the suspension system's state data.
03
超导EDS磁浮列车多级悬挂方案优化与动力学性能
Optimization on multi-stage suspension scheme and dynamics performance of superconducting EDS maglev train
【摘要】研究了超导电动悬浮（EDS）磁浮列车悬浮架的悬挂方案，分析了超导EDS磁浮列车的工作原理和既有悬浮架的悬挂系统技术特征，提出了一种多级悬挂系统优化方案，从理论上推导了多级悬挂车辆的动力学微分方程；基于多体动力学软件SIMPACK与数学工具MATLAB/Simulink搭建了超导EDS磁浮列车动力学联合仿真框架，分析了超导EDS系统的磁力特性；将计算得到的电磁力组建成一个查找表，利用SIMPACK分别构建了既有悬挂方案和多级悬挂方案下3车体和4悬浮架的三编组超导EDS磁浮列车机械模型，借助MATLAB/Simulink建立了电磁力查找模型，通过SIMAT模块将查找表与机械动力学模型耦合，并通过联合仿真对比了在轨道随机不平顺条件下不同悬挂方案的超导EDS磁浮列车动力学响应。研究结果表明：与既有方案相比，采用多级悬挂方案时列车悬浮架和车体的振动响应明显减小，二者振动加速度峰值降幅均达到50%以上，车体振动加速度均小于1 m·s-2，车体各向平稳性指标基本保持在2.5以下的优秀水平，证明采用多级悬挂方案可以改善列车运行时的动力响应，提高车辆整体的乘坐舒适性。研究工作可为超导EDS磁浮列车的悬浮架方案优化设计和动力学研究提供理论依据和参考。
【Abstract】The suspension scheme of the superconducting electrodynamic suspension (EDS) maglev train levitation bogie was studied. The working principles of the superconducting EDS maglev train and the technical characteristics of the suspension system of existing levitation bogie were analyzed, and a multi-stage suspension system optimization scheme was proposed. The dynamics differential equation of the multi-stage suspension vehicle was theoretically derived. A co-simulation framework of superconducting EDS maglev train dynamics was established based on the multi-body dynamics software SIMPACK and the mathematical tool MATLAB/Simulink, and the magnetic properties of the superconducting EDS system were analyzed. The calculated electromagnetic forces were formed into a search table, and the mechanical models of three train bodies and four levitation bogies of the three-group superconducting EDS maglev train were constructed under the existing suspension scheme and multi-stage suspension scheme by SIMPACK. The electromagnetic force search model was established though MATLAB/Simulink. The search table was coupled with the mechanical dynamics model through the SIMAT module, and the dynamics responses of the superconducting EDS maglev trains under different suspension schemes in the condition of random track irregularity were compared though the co-simulation. Research results show that compared with the existing scheme, the vibration responses of the train levitation bogie and train body significantly reduce when the multi-stage suspension scheme is adopted, and the peak vibration acceleration amplitudes of both reduce by more than 50%. The vibration accelerations of the train bodies are both less than 1 m·s-2, and the stability indexes are basically maintained at an excellent level below 2.5. It is proved that the multi-stage suspension scheme can improve the dynamic response of the train and enhance the overall ride comfort of the vehicle. The research can provide a theoretical basis and reference for the optimization design of the levitation bogie scheme and dynamics research of the superconducting EDS maglev train.
04
基于试验数据的中低速磁浮列车电磁铁结构参数分析
Analysis of electromagnet structure parameters of medium and low speed maglev train based on test data
【摘要】为提高中低速磁浮列车的承载能力，基于等效磁路法建立了全尺寸悬浮电磁铁磁路模型，推导了包含悬浮电磁铁结构参数的垂向电磁力表达式；基于影响因素分析方法，对比研究了线圈匝数、电磁铁宽度、极板长度等结构参数对悬浮电磁铁垂向电磁力的影响；通过单电磁铁试验台对比了不同悬浮间隙和线圈电流下，线圈匝数分别为320和410时悬浮电磁铁垂向电磁力和浮重比的变化规律，验证了优化线圈匝数对提升中低速磁浮列车悬浮性能的可行性。研究结果表明：相比电磁铁宽度和极板长度，线圈匝数是影响磁浮列车悬浮性能的主要因素，但在10～30 A的小电流范围和大悬浮间隙（>10 mm）的范围内，改变线圈匝数对悬浮电磁铁垂向电磁力的提升效果较弱；当悬浮间隙为8 mm,线圈电流为30～50 A时，410匝悬浮电磁铁相对320匝悬浮电磁铁对悬浮电磁铁垂向电磁力的提升效果明显，平均垂向电磁力提升约2.94 kN，提升比例约为27.8%，平均浮重比提升约2.83，提升比例约为15.33%；随着线圈电流进一步增加，悬浮间隙进一步减小，平均垂向电磁力提升约3.38 kN，提升比例约为25.5%，平均浮重比提升约3.06，提升比例约为13.22%，说明当悬浮间隙为8 mm，线圈电流为30～50 A时，410匝悬浮电磁铁对中低速磁浮列车悬浮性能的提升效果最佳，而410匝悬浮电磁铁垂向电磁力的方差和标准差比320匝悬浮电磁铁的大，说明增加线圈匝数会使得悬浮电磁铁垂向电磁力对参数的变化更敏感。
【Abstract】To improve the carrying capacity of medium and low speed maglev trains, based on the equivalent magnetic circuit method, a full-size levitation electromagnet magnetic circuit model was established. In addition, the vertical electromagnetic force expression containing the levitation electromagnet structure parameters was deduced. According to the influence factor analysis method, the influences of structure parameters such as the number of coil turns, electromagnet width, and pole plate length on the vertical electromagnetic force of the levitation electromagnet were comparatively investigated. Through the single electromagnet test bench, the changes in the vertical electromagnetic forces and lift-to-weight ratios of levitation electromagnets with 410 and 320 coil turns were compared under different levitation gaps and coil currents. The feasibility of optimizing the coil turns to improve the levitation performance of medium and low speed maglev trains was verified. Research results show that compared with the electromagnet width and pole plate length, the coil turns is the main factor affecting the levitation performance of maglev trains, but in the small current range of 10-30 A and the large levitation gap (>10 mm), changing the coil turns has a weak effect on the enhancement of vertical electromagnetic force of the levitation electromagnet. When the levitation gap is 8 mm, and the current of the coil is 30-50 A, the levitation electromagnet with 410 coil turns is more effective than that with 320 coil turns in improving the vertical electromagnetic force of the levitation electromagnet, and the average vertical electromagnetic force increases by about 2.94 kN, with an enhancement ratio of about 27.8%. The average lift-to-weight ratio increases by about 2.83, and the enhancement ratio is about 15.33%. As the coil current further increases, and the levitation gap further reduces, the average vertical electromagnetic force increases by about 3.38 kN, and the enhancement ratio is about 25.5%. The average lift-to-weight ratio improves by about 3.06, and the enhancement ratio is about 13.22%. It shows that the levitation electromagnet with 410 coil turns has the best effect on improving the levitation performance of medium and low speed maglev trains when the levitation gap is 8 mm, and the coil current is 30-50 A. The variance and standard deviation of vertical electromagnetic force of the levitation electromagnet with 410 coil turns are greater than those with 320 coil turns, indicating that increasing the coil turns will make the vertical electromagnetic force of the levitation electromagnet more sensitive to parameter changes. 5 tabs, 9 figs, 33 refs.
05
基于全尺寸台架试验的中低速磁浮列车悬浮架强度评估
Strength evaluation of levitation frame for medium and low speed maglev train based on full-scale bench test
【摘要】为评估某中低速磁浮列车悬浮架构架是否满足强度要求，利用自主研发的全尺寸中低速磁浮强度试验台对该悬浮架构架开展了静强度与疲劳强度试验，基于有限元和多体动力学仿真结果，确定了悬浮架构架的应力集中部位与承载特性；据此，在悬浮架构架上合理布置了系列测点，测量了车辆在超常载荷、模拟主要运营载荷和模拟特殊运营载荷3类工况下悬浮架构架的应变响应信号，根据悬浮架构架不同部位的材料特性，通过转换计算评估了悬浮架构架的应力水平。研究结果表明：在静强度试验中，悬浮架构架的较大应力点主要分布于托臂拐角、支撑轮安装座与防侧滚梁连接处、停放制动滑橇安装座等处，而在疲劳强度试验中的薄弱点主要为纵梁与托臂连接的焊缝处；相比于列车的常规运行工况，在悬浮失效、超载落车制动等特殊运行条件下，悬浮架构架的静强度和疲劳强度的应力幅值分别增加了1.06和4.77倍；所有测试工况下悬浮架构架受到的最大拉应力、最大压应力分别为67.22、-20.30 MPa，且最小安全系数为1.71，说明悬浮架构架满足结构强度要求；所有测试数据结果均在各自材料的Goodman-Smith疲劳极限图包络线内，说明悬浮架构架满足疲劳强度要求；经渗透探伤查验，悬浮架构架的任何位置上均未发现裂纹，验证了悬浮架构架疲劳强度评估结果的可靠性。
【Abstract】In order to evaluate whether the levitation frame of a medium and low speed maglev train meets the requirements of strength, the static strength and fatigue strength tests of the levitation frame were conducted by using the self-developed full-scale medium and low speed maglev strength test bench. According to the finite element analysis and the results obtained from multi-body dynamics simulation, the stress concentration position and bearing characteristics shown by the levitation frame were determined, followed by the reasonable arrangement of measuring points in a series on the levitation frame. The signals of strain response shown by the levitation frame of the train under three types of working conditions were measured, including extraordinary load, simulated main operation load, and simulated special operation load. Based on the material properties displayed by different parts of the levitation frame, the stress level of the levitation frame was evaluated through transformation calculation. Research results show that in the static strength test, large stress points of the levitation frame are mainly distribute at the corner of the bracket, the connection point between the mounting seat of support wheels and the anti-rolling beam, and the mounting seat of the parking brake sled, while the weak point obtained from the fatigue strength test is mainly at the weld joint between the longitudinal beam and the bracket. In comparison with the conventional operating conditions of the train, the stress amplitude values of the static strength and fatigue strength of the levitation frame increase by 1.06 and 4.77 times respectively under special operation conditions such as levitation failure and overloading braking. The maximum tensile stress and compressive stress of the levitation frame under all test conditions are 67.22 and −20.30 MPa, respectively, with the minimum safety factor as 1.71, indicating that the levitation frame meets the structural strength requirements. All the test data are within the envelope of the Goodman-Smith fatigue limit diagram of the corresponding material, indicating that the levitation frame meets the fatigue strength requirements. Through penetration inspection, it is identified that no cracks are found at any position of the levitation frame, which verifies the reliability of fatigue strength evaluation results of the levitation frame.
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