Journal of Jilin University(Engineering and Technology Edition) ›› 2018, Vol. 48 ›› Issue (6): 1661-1668.doi: 10.13229/j.cnki.jdxbgxb20170878

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Construction on collision avoidance model of bogie dynamic simulation test bench

LIU Yu-mei1(),LIU Li1,CAO Xiao-ning2,XIONG Ming-ye3,ZHUANG Jiao-jiao1   

  1. 1. College of Transportation,Jilin University,Changchun 130022,China
    2. CRRC Qingdao Sifang Co.Ltd.,Qingdao 266111,China
    3. Department of Electronic and Computer Engineering,University of Illinois at Urbana-Champaign,Illinois 61801,USA
  • Received:2017-08-31 Online:2018-11-20 Published:2018-12-11

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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

CLC Number: 

  • U461

Fig.1

Schematic diagram of operation actuator of test bench"

Fig.2

Schematic of 6-dof bogie dynamic simulation platform"

Fig.3

Relative position between origin of local coordinate and static coordinate"

Fig.4

Simplified diagrams of obstacles"

Fig.5

Simplified model of vertical actuators"

Fig.6

Simplified model of motion platform"

Fig.7

Simulation diagram of upper and lower vertical actutor"

Fig.8

Simulation diagram of lower motion platform"

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