基于高速综合检测列车的构架运动位姿分析  

Position and Attitude Motion Analysis of Vehicle Bogie Based on High-speed Comprehensive Inspection Train

作　　者：韩志 陈春雷 李长坤 程朝阳 傅强 贺雨 HAN Zhi;CHEN Chunlei;LI Changkun;CHENG Zhaoyang;FU Qiang;HE Yu(Infrastructure Inspection Research Institute,China Academy of Railway Sciences Corporation Limited,Beijing 100081,China;Beijing Key Laboratory of Nonlinear Vibrations and Strength of Mechanical Structures,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]中国铁道科学研究院集团有限公司基础设施检测研究所,北京100081 [2]北京工业大学非线性振动与机械结构强度北京市重点实验室,北京100124

出　　处：《铁道学报》2024年第7期117-125,共9页Journal of the China Railway Society

基　　金：中国铁道科学研究院集团有限公司科研项目(2020JJXM05)。

摘　　要：综合检测列车构架的运动位姿会影响检测系统测量的准确性,为获取检测系统所在构架运动位姿,提出一种基于多加速度计组合的位姿解算算法。对综合检测列车检测系统所在构架中心运动位姿进行测试分析,结果显示,在相同速度条件下,列车构架中心位姿结果具有较强的相关性;同时针对多加速度计组合位姿测量方法无法感知线路线形造成的姿态角变化问题,提出位姿补偿方案,并搭建试验模型进行验证。结果表明补偿后横向位移、垂向位移、侧滚角度、摇头角度、俯仰角度的位姿解算结果与试验台反馈结果具有很好的一致性。上述结果可为综合检测列车上搭载的检测系统运动状态下的测量精度分析提供支撑。Position and attitude motion of the bogie of comprehensive inspection vehicle affects the measurement accuracy of the detection system.In order to obtain the position and attitude motion of the bogie where the detection system is located,this paper proposed an attitude calculation algorithm based on a combination of multiple accelerometers.The results of the test and analysis of the position and attitude motion of the bogie center where the track detection system of the comprehensive inspection train is located show that there is a strong correlation between bogie center position and attitude under the same speed.At the same time,an attitude compensation scheme was proposed to address the problem of attitude angle changes caused by the inability of the combined attitude measurement method with multi-accelerometer to perceive the line alignment,and an experimental model was built to verify it.The results show that the calculated results of lateral displacement,vertical displacement,roll angle,yaw angle and pitch angle after compensation are in good agreement with the feedback output waveform of the vibration platform.The above results can provide support for the measurement accuracy analysis of the detection system carried on the comprehensive inspection train under the moving state.

关 键 词：高速铁路 位姿测量 列车构架 试验模型 重复性实验 

分 类 号：U270.1[机械工程—车辆工程]