基于高速综合检测列车的构架运动位姿分析
Position and Attitude Motion Analysis of Vehicle Bogie Based on High-speed Comprehensive Inspection Train
韩志 1陈春雷 1李长坤 2程朝阳 1傅强 1贺雨1
作者信息
- 1. 中国铁道科学研究院集团有限公司基础设施检测研究所,北京 100081
- 2. 北京工业大学非线性振动与机械结构强度北京市重点实验室,北京 100124
- 折叠
摘要
综合检测列车构架的运动位姿会影响检测系统测量的准确性,为获取检测系统所在构架运动位姿,提出一种基于多加速度计组合的位姿解算算法.对综合检测列车检测系统所在构架中心运动位姿进行测试分析,结果显示,在相同速度条件下,列车构架中心位姿结果具有较强的相关性;同时针对多加速度计组合位姿测量方法无法感知线路线形造成的姿态角变化问题,提出位姿补偿方案,并搭建试验模型进行验证.结果表明补偿后横向位移、垂向位移、侧滚角度、摇头角度、俯仰角度的位姿解算结果与试验台反馈结果具有很好的一致性.上述结果可为综合检测列车上搭载的检测系统运动状态下的测量精度分析提供支撑.
Abstract
Position and attitude motion of the bogie of comprehensive inspection vehicle affects the measurement accuracy of the detection system.In order to obtain the position and attitude motion of the bogie where the detection sys-tem is located,this paper proposed an attitude calculation algorithm based on a combination of multiple accelerometers.The results of the test and analysis of the position and attitude motion of the bogie center where the track detection system of the comprehensive inspection train is located show that there is a strong correlation between bogie center position and attitude under the same speed.At the same time,an attitude compensation scheme was proposed to address the problem of attitude angle changes caused by the inability of the combined attitude measurement method with multi-accelerometer to perceive the line alignment,and an experimental model was built to verify it.The results show that the calculated re-sults of lateral displacement,vertical displacement,roll angle,yaw angle and pitch angle after compensation are in good agreement with the feedback output waveform of the vibration platform.The above results can provide support for the measurement accuracy analysis of the detection system carried on the comprehensive inspection train under the moving state.
关键词
高速铁路/位姿测量/列车构架/试验模型/重复性实验Key words
high-speed railway/position and attitude measurement/vehicle bogie/experimental model/repetitive experiment引用本文复制引用
基金项目
中国铁道科学研究院集团有限公司科研项目(2020JJXM05)
出版年
2024
NETL
NSTL
万方数据