用于转向架刚度测试的六自由度加载平台控制策略

Study of Bogie Stiffness Test Control Strategy for Six-Dof Loading Plate

为提升高速列车转向架测试设备的技术水平,提出了一种用于转向架悬挂刚度动态测试的六自由度加载平台.对此平台建立了的位姿解算模型,并确立了平台运动姿态与七台液压缸伸缩量的函数关系.通过对加载系统特点的分析,建立了基于RBF网络整定PID参数的多通道协同加载的控制策略,对每个单通道则采用了零相差前馈跟踪的控制策略.仿真结果证明,这种控制策略不仅对单缸的位移控制具有快速响应的特点,同时也能够对多通道加载实现快速跟踪,提高了六自由度加载平台的运动精度,可将该平台结构和控制策略应用于转向架悬挂定位刚度的动态测试当中.

In order to improve test equipment of domestic high-speed train bogie,a six-dof loading plate used to test bogie suspension stiffness dynamically is proposed.Motion solution model of the six-dof loading plate is established,and the functional relation is determined between the 6-dof loading plate posture and 7 cylinders coordinated loading.By analysis,the characteristic of loading system,the control strategy based on RBF neural network on-line setting PID parameters to coordinate individual motion of cylinder is established,and a control strategy of zero phase error tracking control（ZPETC） used in every single hydraulic loading system is designed.Simulation results show that this control strategy has the characteristics of responsiveness to each individual hydraulic displacement control,fast tracking for the multivariate hydraulic and motion accuracy.The control strategy can be used in dynamic testing bogie positioning stiffness.