摘要
依托于吉林大学研发的转向架参数测定试验台,提出了基于力矩平衡原理的重心空间坐标测试方法,建立了重心空间坐标的测试模型.被试转向架水平静止状态时测定纵向及横向坐标,垂向坐标的测定需运用试验台电液伺服控制系统将转向架沿纵向倾斜一定角度,分析倾斜状态下转向架的力矩平衡关系.运用齐次坐标变换矩阵原理构建了多六自由度平台复杂耦合运动的位姿反解模型,通过位姿反解得到各作动器协调控制的指令,实现垂向坐标的准确测试.对某型转向架重心坐标进行了测定,试验结果与理论值一致,证明了测试模型的准确性,以及测试方法的可行性.
Relying on the bogie＇ s parameters test bench developed by Jilin University, the spatial coordinates determination method of the bogie＇ s gravity center was put forward based on the moment balance principle. The test models for spatial coordinates were also established. The longitudinal and the lateral coordinates were tested with keeping the bogie still. But when test the vertical coordinate, the bogie should be inclined via the actuators of the test bench to analyze the moment balance at an angle. The inverse displacement analysis model of the multiple-six-DOF simulation platform with complex coupling motions was established, and the vertical coordinate was tested based on the coordinated control commands of the actuators. Coordinates of the gravity center of a certain bogie were measured and compared with the theoretical coordinates. The result shows that measured values are consistent with the theoretical ones, which proves the accuracy and feasibility of the test method.
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2014年第2期277-281,294,共6页
Journal of Northeastern University(Natural Science)
基金
中央高校基本科研业务费专项资金资助项目(450060487415)
长春市科技支撑计划项目(2010018)
吉林大学研究生创新基金资助项目(20121076
20121091)
关键词
转向架
重心坐标
空间坐标
位姿反解
齐次坐标变换
bogie
coordinate of center of gravity
spatial coordinate
inverse displacementanalysis
transformation in homogeneous coordinate
