转向架测试6自由度模拟平台位姿正解解算

刘玉梅; 曹晓宁; 苏建; 王秀刚; 梁树林; 王帆

doi:10.3969/j.issn.1671-7775.2012.06.001

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江苏大学学报（自然科学版） ›› 2012, Vol. 33 ›› Issue (6) : 621-625. DOI: 10.3969/j.issn.1671-7775.2012.06.001

论文

转向架测试6自由度模拟平台位姿正解解算

作者信息 +

Forward kinematics solution of 6 degree of freedom simulation platform for bogie test

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文章历史 +

摘要

为了实现转向架实际线路运行状态室内台架模拟,对转向架动态测试的6自由度模拟平台位姿正解进行了研究．根据6自由度模拟平台几何结构和参数,利用基于欧拉角的齐次变换矩阵及杆长约束条件建立了以位姿变量为未知量、方程数等于作动器数的6自由度模拟平台位姿正解非线性数学模型,借助于Matlab/simulink仿真环境利用牛顿拉夫逊算法将以位姿元素为变量的非线性数学模型转化为以位姿元素增量为变量、Jacobian Matrix为系数矩阵的线性方程组来求取近似解,结合实例,验证了6自由度模拟平台正解数学模型及算法的准确性及高效性,为转向架测试6自由度模拟平台的运动控制提供了重要的理论基础．

Abstract

In order to realize real simulation of the bogie working state, the forward kinematics of 6DOF simulation platform for bogie test was investigated. According to geometry and parameters of 6DOF simulation platform, the nonlinear mathematical model for forward position solution of the platform was established by the homogeneous transformation matrix based on Euler angles and rod length constraints.The position variable was taken as unknown quantities with equation number equal to actuator number. By Matlab/simulink simulation， the approximate solution was achieved based on NewtonRaphson method to turn nonlinear mathematical model into linear equations with position variable as unknown quantities and Jacobian Matrix as coefficient matrix. Combined with example，the accuracy and efficiency of the algorithm and the nonlinear mathematical model for the forward kinematics solution were verified to provide important theoretical basis for the 6DOF platform motion control.

导出引用

刘玉梅, 曹晓宁, 苏建, 等. 转向架测试6自由度模拟平台位姿正解解算[J]. 江苏大学学报（自然科学版）, 2012, 33(6): 621-625 https://doi.org/10.3969/j.issn.1671-7775.2012.06.001

LIU Yu-Mei, CAO Xiao-Ning, SU Jian, et al. Forward kinematics solution of 6 degree of freedom simulation platform for bogie test[J]. Journal of Jiangsu University(Natural Science Edition), 2012, 33(6): 621-625 https://doi.org/10.3969/j.issn.1671-7775.2012.06.001

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