基于Simulink的转向架测试6-Dof加载平台位姿实时解算

Real-Time Solution of 6-Dof Loading Platform Pose for Bogie Test Based on Simulink

为了更真实模拟实际线路上转向架的工作状态,对模拟转向架动态测试的六自由度加载平台位姿进行研究.利用有限元分析软件Ansys,对加载平台进行了结构静强度分析,证明了平台可视为刚体的假设.在建立平台反解数学模型基础上,应用齐次坐标变换方法和Simulink交互式仿真集成环境搭建了反解仿真模型,从而实现了平台位姿实时解算,为六自由度加载平台设计及控制研究提供了重要的参数依据.

In order to carry out real simulation of the working bogie, the pose of a 6-Dof loading platform simu- lating the bogie dynamic test was studied. The finite element analysis software Ansys was applied to execute the static stiffness analysis of the loading platform, proving that the platform can be regarded as a rigid body. On the basis of mathematical model of inverse displacement analysis, the inverse displacement model was built by virture of the homogeneous coordinate transformation and simulink interactive simulation integrated environment to realize the real-time solution of the platform pose and provide important parameters for the design and control study of the platform.