摘要
轨道检测系统采用六自由度的STEWART平台模拟转向架的多维运动,采用四通道的电动伺服平台分别模拟两根铁轨的垂直和横向水平运动。首先讨论了STEWART六自由度平台的数学建模,并与四通道的轨道模拟平台建立协调的同步控制机制。开发了控制系统软件,实现了检测梁的六自由度运动和轨道平台的同步控制,能够在实验室中模拟轨道检测梁的实际运动和轨道的实际位置变化。为各种的车载轨道检测设备提供了在实验室中模拟实际工况的手段。
Track inspection system employs the technologies such as six degrees of freedom STEWART platform to simulate multidimensional motion of bogie and a four-channel electric scrvo platform analog vertical and lateral horizontal movement of the two tracks. This articlc discusses the mathematical modeling of the STEWART platform, and to establish mechanisms for coordination and synchronization control track four-channel analog platform. The development of control systems software that enables synchronous motion control of six degrees of freedom inspection beams and track platform, which can simulate actual movement of track detection beam and track in the laboratory. It providcs a means to simulate actual working conditions in the laboratory for a variety of on-board track inspection equipment.
出处
《液压气动与密封》
2015年第10期31-33,42,共4页
Hydraulics Pneumatics & Seals
关键词
六自由度轨检试验台
GJ-6型检测梁
电动缸
伺服控制
运动位姿
six degrees of freedom track inspection test-bed
GJ -6 inspection beam
electric cylinders
servo control
motion pose
