【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。更多还原

【Abstract】 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.更多还原