基于18自由度冗余并联机构的高速列车转向架动态模拟方法研究

According to the coordinated control of 21 actuators in 3 6-dof platforms, this subject use joint modeling and simulation method of 18-dof parallel mechanism to realize the dynamic simulation of bogie’s 6-dof motion attitude in three dimension based on bench, reconstruction of track geometric information and irregularity information in real time, as well as the simulation of loading status of bogie in multiple loading conditions. The inverse position solution control method is combined with the bionics-based immune-genetic PSO algorithm to establish the immune-genetic PSO displacement tracking model with the minimum difference between forward and inverse solution as its optimization objective. The fast approximation of forward and inverse solution for displacement parameters is achieved according to the global optimization of populations. The fuzzy-PID controller with self-tuning function is used to realize the asymmetry compensation during the multiple dimension parallel mechanisms’ motion process. The three dimension force integrative measurement device with independent intellectual property is used to realize the direct measurement of three dimension force and torque in the dynamic simulation process, thus avoiding the test error induced by the indirect measurement. The space limit envelope model and space position interference detection model in time domain are established for multi-dimensions and multi-mechanisms dynamic-dynamic and dynamic-static convex objects. By this method, the auto-constraint is realized for multi-dimensions and multi-mechanisms complex working space limit. Therefore, the dynamic simulation as well as comprehensive test and evaluation of dynamic performance for high-speed train bogie is accomplished.

课题采用18自由度并联机构的联合建模与仿真，通过3个六自由度平台、21个作动器的协联控制，实现基于台架的转向架三维六自由度空间运动姿态的动态模拟、轨道几何信息与轨道不平顺信息的实时再现以及转向架多工况下受载状态的模拟仿真。采用位姿逆解控制算法，结合基于仿生学的免疫遗传粒子群优化方法，建立以正逆解之差最小为优化目标的免疫遗传粒子群位移跟踪模型，通过种群的全局寻优，实现位移参数正逆解快速逼近。课题采用具有自整定功能的模糊PID控制器，实现了对多维并联驱动机构复杂运动过程中非对称性的补偿。采用独立知识产权的三维力一体化测量装置，实现动态模拟过程中三维力与力矩的直接测量，避免以往间接测试带来的测试误差。课题建立并联多维多机构动-动凸物体与动-静凸物体空间限界包络模型和空间位置干涉检查时域模型，实现多维多机构复合运动空间限界的自动约束，实现了高速列车转向架的动态模拟与动力学性能的综合测试与评定。

本项目致力于高速列车转向架动态模拟方法研究。建立了18自由度冗余并联加载机构空间动力学模型；基于机构拓扑学理论对机构进行整周自由度、耦合度与冗余度分析，建立并联机构位姿正、反解数学模型和位姿实时解算模型。提出了一种基于仿生优化方法的免疫遗传粒子群算法的位姿解算方法，实现了转向架空间运动的正解与逆解快速逼近，并将所提方法与试验对比进一步验证方法有效性，解决了转向架空间位姿控制的实时性和准确性的问题；建立了3-6dof加载平台运动空间约束模型及空间位置干涉检测模型，提出了一种检测静态凸多面体与动态凸多面体间碰撞方法，实现了多维复杂运动机构工作运动空间的约束及空间运动位置的实时监测，保证了复杂运动动态模拟运动时的安全性；提出了任意多面体的剖分理论，将凹多面体与凸多面体、凹多面体与凹多面体之间的碰撞检测问题转化为多个凸多面体间的并行碰撞检测问题，避免了一般碰撞检测算法只适用于凸多面体的弊端；通过车辆实际运行过程中垂向动力学分析和动态解耦算法，建立减缩并解耦的转向架动态特性方程，并利用非齐次微分方程求解方法和克莱姆线性方程组求解定理解算得到转向架或车体多维运动姿态（如沉浮、摇摆、伸缩、点头、侧滚、横摆）时间历程函数模型，实现轨道不平顺室内模拟及转向架实际运行动态特性模拟。本项目所开发的具有自主知识产权的基于18自由度冗余并联机构的转向架六自由度动态模拟系统，完善了转向架参数测定试验台的动态测试功能，实现了转向架动力学性能的综合评定，对提高高速转向架和高速列车的设计开发能力具有重要意义。