带工艺约束柔性体模拟的轨道车辆布线方法  

Constraints based flexible rod simulation for rail vehicle wiring method

作　　者：罗权 易兵[1] 王杰 LUO Quan;YI Bing;WANG Jie(School of Traffic&Transportation Engineering,Central South University,Changsha 410075,China;CRRC Zhuzhou Electric Locomotive Research Institute Co.,Ltd.,Zhuzhou 412001,China)

机构地区：[1]中南大学交通运输工程学院,湖南长沙410075 [2]中车株洲电力机车研究所有限公司,湖南株洲412001

出　　处：《铁道科学与工程学报》2022年第10期3070-3078,共9页Journal of Railway Science and Engineering

基　　金：湖南省科技厅高新技术产业科技创新引领计划(2020GK2096);国家自然科学基金资助项目(51975589)。

摘　　要：高速动车组的布线质量非常重要,传统的二维图纸及线束走向表等指导布线方式,无法明晰线束路径及布线工艺等细节。为解决轨道车辆布线工艺数字化、信息化程度低及布线质量和可靠性差等问题,提出一种带工艺约束柔性体模拟的轨道车辆布线方法。建立基于Kirchhoff弹性杆理论的中心线-标架离散线缆模型,实现线缆空间位姿和截面状态的精确实时模拟。分析布线过程中典型工艺约束,构建端点连接、位置、动态固定和接触等典型工况下的工艺约束简化表达,并引入罚函数构建带约束线缆模拟能量模型。基于准静态模拟方法,计算扭转角度更新材料标架,求解带工艺约束柔性线缆能量模型作用在中心线上的力,通过半隐式欧拉法获得线缆在工艺约束和重力共同作用下的动力学空间形态和位姿,并引入基于位置动力学方法处理线缆模型的定长和接触约束,实现带工艺约束的高真实感柔性线缆模拟。设计和开发带工艺约束柔性体模拟的轨道车辆布线仿真系统,并通过线缆形态模拟与仿真对比、轨道车辆线槽与车体布线仿真实例,验证该方法的准确性和有效性。系统仿真结果表明,该柔性体模拟方法提高了轨道车辆布线工艺数字化水平,具有较高的真实感,有利于提高轨道车辆布线质量和可靠性。The wiring quality of high-speed EMUs is very important.The traditional two-dimensional drawings and wiring harness direction tables,and other guiding wiring methods cannot clarify the details of wiring harness paths and wiring processes.Therefore,to solve the problems of low digitization in the wiring process of rail vehicles,and the poor quality and reliability of wiring,a novel method for rail vehicle wiring with process constraint-based flexible rod simulation was proposed.First,a discrete cable model based on the centerline-frame of the Kirchhoff rod was established to realize accurate real-time simulation of the spatial pose and cross-sectional status of the vehicle cable.Second,the typical process constraints in the wiring process were analyzed,and simplified expressions and the energy-based penalty function model under the constraints of end connection,position,dynamic fixation and contact were constructed.Then,based on the quasi-static simulation method,the torsion angle was calculated to update the material frame,the energy model of the constrained flexible cable with a force acting on the centerline was solved and the dynamic spatial shape and posture of the cable under the process constraints and gravity were obtained through the semi-implicit Euler method.The position-based dynamic method was also introduced to process the length and contact constraints of the cable model to realize the simulation of a high-realistic flexible cable with process constraints.Finally,a rail vehicle wiring simulation system with process-constraints was designed and developed,and the accuracy and effectiveness of the method were verified through the morphology and comparison simulation of cable and rail vehicle wiring simulation examples.The system simulation results show that the flexible body simulation method greatly improves the digitization level of the rail vehicle wiring process,has a higher sense of reality,and is beneficial to improving the quality and reliability of rail vehicle wiring.

关 键 词：柔性线缆 工程约束 虚拟布线 轨道车辆 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]