转向架动态模拟试验台避撞模型的构建

doi:10.13229/j.cnki.jdxbgxb20170878

摘要/Abstract

摘要：

利用齐次坐标矩阵和齐次坐标变换矩阵建立3个六自由度运动平台位姿反解模型,采用包围盒方法对运动平台和垂向作动器周围障碍物进行简化。根据空间运动学及空间凸多面体数值表述理论,建立运动平台及垂向作动器与周围障碍物之间的避撞检测模型,通过计算两物体之间的最短距离来判断某位姿下两物体是否发生碰撞。结合实例,利用Matlab仿真,验证了所建避撞模型的正确性,从而为运动平台及运动平台的垂向作动器避免发生碰撞提供有效数据。

关键词: 车辆工程, 避撞模型, 包围盒法, 转向架, 动态模拟, 模拟试验台, 位姿反解

Abstract:

This paper employs homogeneous coordinate matrix and homogeneous transfer matrix to establish inverse position solution model of the three 6-DOF motion platforms. Then the obstacles around the test bench and two lower motion platforms and vertical actuators of motion platforms are simplified into hexahedral model using the bounding box method. According to spatial kinematics and spatial convex polyhedron theory, the collision detection model between vertical actuators and lower motion platforms with obstacles around the test bench was constructed. The shortest distance of two objects is calculated to determine whether they are in a pose of collision. Combined with example and Matlab simulation, the correctness of the collision detection model is verified by simulating the obstacles, lower motion platforms and vertical actuators. This mode can provide valid data for the study of collision avoidance among the obstacles, the vertical actuator and the lower platform.

Key words: vehicle engineering, collision avoidance model, bounding box, bogie, dynamic simulation, simulation test bench, inverse position solution

中图分类号:

U461

刘玉梅,刘丽,曹晓宁,熊明烨,庄娇娇. 转向架动态模拟试验台避撞模型的构建[J]. 吉林大学学报(工学版), 2018, 48(6): 1661-1668.

LIU Yu-mei,LIU Li,CAO Xiao-ning,XIONG Ming-ye,ZHUANG Jiao-jiao. Construction on collision avoidance model of bogie dynamic simulation test bench[J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1661-1668.

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