Research On Inverse Position Solution For Walking Wheel Test System Of Straddle-type Monorail Bogie Test Bed

With the increase of population,city's transportation becomes extremely crowded,which brings great inconvenience to the residents.At present,the metro,which uses specialized tracks underground,not only can save space,but also avoid traffic jam.It becomes the most popular transportation quickly because of its advantages,such as fast,stable,convenient,environmental protection and so on.However,in the long-term development process,it is found that metro rail transit brings us so many defects,such as high cost,high noise,potential geological disasters and so on.Therefore,Monorail Transportation System has been widely recognized for its short construction period,low cost,low noise and other advantages.The same as metro vehicles,bogie is an important part of Monorail Vehicles,and the performance affects the driving safety directly.In order to test the performance of bogie and guarantee its driving safety,Bogie Test Bed for Straddle-type Monorail Vehicles is designed by Institute of Automobile Transportation Engineering in Jilin University.In this paper,Inverse Position Solution is taken based on Walking Wheel Test System of Straddle-type Monorail Bogie Test Bed.Firstly,Relevant literature is researched to introduce the research status of Monorail Vehicle and Bogie Test Bed briefly,and Homogeneous Coordinate Transformation Matrix is determined to be used to calculate the Inverse Position Solution of Walking Wheel Test System.Then,the mechanical structure and work principle of Bogie Test Bed(especially Walking Wheel Test System)are introduced in detail,which provides theoretical basis for Inverse Position Solution.The following detailed tasks have been accomplished in this paper:(1)Current situation and development trend.Relevant literature is researched to introduce the research status of Monorail Vehicle and Bogie Test Bed briefly.(2)Actuators are numbered to distinguish the five actuators of of Walking Wheel Test System conveniently.Secondly,coordinates of key points in Walking Wheel Test System are determined by establishing an appropriate Coordinate System(including a Global Coordinate System and two Local Coordinate Systems).Lastly,Mathematical Model of Walking Wheel Test System is established by using coordinates of the key points,Homogeneous Coordinate Transformation Matrix and motion relations of Mechanical Structures.According to Mathematical Model,programs of Inverse Position Solution is compeleted by MATLAB.(3)According to Construction Parameters of PC beam,Expected Position(including single-DOF and multi-DOF position)is given to Moving Platform for calculating real-time expansion of five actuators.Then,more intuitive real-time expansion curves of actuators is obtained after data processing.(4)Simplified Mechanical Structure Model of Walking Wheel Test System is established by Solidworks.Secondly,the model is imported into Adams.Simulation Analysis is finally carried out after setting material properties,adding Motion Pairs and applying Moving Loads.The real-time expansion of five actuators measured in Adams is compared with the real-time expansion obtained by Inverse Position Solution Programs.The results of two methods are identical,which shows that the research of Inverse Position Solution in this paper is completely correct.