转向架回转力矩测试及运动平台位姿解算  

Bogie rotary torque test and inverse kinematics solution of motion platform

作　　者：王秀刚[1] 刘玉梅[1] 苏建[1] 曹晓宁[1] 张益瑞[1] 

机构地区：[1]吉林大学交通学院,长春130022

出　　处：《吉林大学学报（工学版）》2014年第1期35-40,共6页Journal of Jilin University:Engineering and Technology Edition

基　　金：吉林省科技厅重点项目(20080356);长春市科技支撑计划项目(2010018);中国博士后科学基金项目(2011M500603)

摘　　要：在研究转向架回转力矩测试方法的基础上,基于空间运动学建立了转向架回转平台的位姿反解数学模型。结合转向架回转力矩测试要求,利用Simulink仿真模型进行实时解算。借助于MATLAB/cftool曲线拟合工具箱对液压缸伸缩量进行高精度的拟合逼近,证明了各作动器伸缩量与时间之间可用分段函数映射关系来描述,为转向架回转平台实现回转运动模拟提供参数依据。Rotary torque is one of the key factors that influence the dynamic performance of bogie. The torque measuring method of the bogie is studied. Then based on the spatial kinematics, the mathematical model of the inverse kinematics solution of the bogie is established. Combined with the bogie rotary test requirements, the real-time solution is obtained by means of the Simulink simulation model. Using MATLAB/cftool curve fitting tool, the hydraulic cylinder telescopic quantity is fitted with high precision, proving that the relation between the cylinder telescopic quantity and time can be described as the piecewise function. This provides the parameter foundation for the rotation simulation of the bogie rotation platform.

关 键 词：车辆工程 转向架回转力矩 位姿反解 MATLAB cftool 分段函数 

分 类 号：U473.6[机械工程—车辆工程]