变坡度轨道几何线型的试验台模拟方法  

Test Bench Simulation Method for Geometric Shape of Track with Varying Slope

作　　者：刘玉梅[1] 庄娇娇 郭艳秀 熊明烨[3] 赵聪聪 LIU Yumei;ZHUANG Jiaojiao;GUO Yanxiu;XIONG Mingye;ZHAO Congcong(School of Transportation,Jilin University,Changchun 130022,China;Beijing Electric Vehicle Co.,Ltd.,Beijing 102600,China;Department of Electrical and Computer Engineering,University of Illinois,Urbana IL61801,USA;School of Engineering and Technology,Jilin Agricultural University,Changchun,130118,China)

机构地区：[1]吉林大学交通学院,吉林长春130022 [2]北京新能源汽车股份有限公司,北京102600 [3]伊利诺伊大学电气与计算机工程系,乌尔瓦纳IL61801 [4]吉林农业大学工程技术学院,吉林长春130118

出　　处：《铁道学报》2018年第12期22-28,共7页Journal of the China Railway Society

基　　金：国家自然科学基金(51575232);长春市科技支撑计划(2010018);吉林省科技厅自然基金(201215020)

摘　　要：为实现变坡度轨道几何线型的室内动态模拟,分析研究转向架参数测定试验台的下部双六自由度运动平台的运动姿态。基于变坡度轨道几何线型的特征和双六自由度运动平台的结构参数,建立双六自由度运动平台的位姿反解模型以及坡道模拟所对应的平台位姿转化模型,并借助MATLAB/Simulink实现某一变坡度轨道几何线型下双六自由度运动平台的位姿反解解算,得到作动器的动态伸缩量。利用几何解析的方法验证了所建立的位姿反解模型、位姿转化模型以及仿真模型的正确性。In order to realize the indoor dynamic simulation of the high-speed train bogie on the varying slope track,the motion attitude of the lower double six-degree-of-freedom(DOF)platform of the bogie parameter measuring test bench was analyzed.The pose inverse solution model of the double six degree of freedom motion platform and the model of the platform position and orientation were established based on the geometric structure of the slope and the double six degree of freedom platform.An inverse solution of the double 6-DOF platform under a varying slope track geometry was achieved on the basis of the MATLAB/Simulink tool,to obtain the dynamic flex quantities of different hydraulic actuators.Finally,the accuracy of the inverse kinematic model,coordinative relation model and simulation model was verified via a geometric analytic method.

关 键 词：双六自由度运动平台 转向架 轨道几何线型 变坡度 位姿反解 

分 类 号：U213.2[交通运输工程—道路与铁道工程]