Research On The Solution Method Of6-dof Motion Platform Based On Particle Swarm Optimization

As one of the most important parts of the rail vehicle, the bogies have good performancecan improve the operating quality and driving safety of the trains. With the increasing speedof rail vehicle, due to high-performance vehicle the requirements of the bogie are gettinghigher and higher. In currently, the problem we need to solve is to improve the carryingcapacity of the truck and the stability of the rail vehicle under the high-speed operation. Inview of the importance of the quality of the bogie on the dynamic performance of the vehicle,therefore, measured the bogie parameters is essential in the process of researching anddeveloping new products. The test stand of bogie parameters measured is a platform fororganizations to simulate the movement of six degrees of freedom, while the platformposition solution is a prerequisite to achieve control. Therefore, it will be of importantsignificance to develop the position solution system of6-DOF motion platform for theproduction and theoretical research of high-speed train bogie, meanwhile it has an importantpractical value for the protection of vehicle’s safety, stability and passenger comfort whentrain running at high speed.This paper introduced the background and significance of the study on6-DOF platformposition solver method based on extensive reading relevant literature. This paper presented acalculation method of six degrees of freedom motion platform pose positive solution byparticle swarm optimization intelligent algorithm. This paper focused on the particle swarmintelligence algorithm (PSO) optimization theory and applications, as well as the functionand structure of high-speed train bogie parameter measurement test bench. This paperestablished a general model of high-speed train bogie parameter measurement test benchpose positive solution based on PSO, while solved and verified the model. The specificstudies and the research results as follows:(1) This paper described the research background and significance of six degrees offreedom motion platform pose positive solution method, introduced the test technology ofbogie parameters and the research statured of position and orientation of six degrees offreedom motion platform. In the meantime, an research about the optimization theory of particle swarm optimization has been conducted deeply, which introduced the origin,updated speed and position formula of the particle swarm optimization and the basic flow ofthe optimization, then made comparisons between the different versions of the particleswarm optimization, furthermore, introduced the improved method and applications of theparticle swarm optimization.(2) This paper introduced the function and structure of the bogie parameters test stand,and then briefly described the mathematical basis of coordinate transformation and themethod that expressing the coordinate transformation. It separately builds the staticcoordinate system, body coordinate system and local coordinate systems of each platform,and provided the functional relations between every platform.(3) The article studied the determination of the parameters of high-speed train bogie textstand of position and orientation of a generic model of positive solutions. Established threesix degrees of freedom motion platform reference point according to the homogeneouscoordinate transformation and coinciding and not coinciding with the origin of the localcoordinate system based on particle swarm optimization mathematical model of positivesolutions respectively. And the situation of coinciding can be seen the special circumstancesof not coinciding. So the reference point not coinciding with the origin of the localcoordinate system model can be used in the position and orientation of high-speed trainbogie test bed commonly.(4) This paper solved and verified the position and orientation of single-DOF andmulti-DOF of three6-DOF motion platform respectively. Firstly M-files are compiled basedon PSO toolbox and MATLAB software to calculate position solution, and then obtains thepose parameters of the platform by calculated. Six degree of freedom platform inversekinematics simulation models is established in Simulink simulation integrated environment.The pose parameters obtained by particle swarm optimization algorithm are input parametersof inverse model, then the length deviation and the rod length are calculated, which iscompared with the measured values. The calculation errors within the allowable range, meetthe requirements of precision control, and then verified that the forward kinematicssimulation model with six degree of freedom platform and PSO intelligent optimizationalgorithm are correct.