Motion Platform Of Guide Wheel And Stable Wheel Of Straddle Monorail Research On Position Calculation

Railway is the main modern mode of transportation in China.Similarly important modes of transportation include waterway,road and air transport.Railway transportation is becoming the core of China's comprehensive system of transport progressively.Urban rail transit has many advantages that traditional rail trains do not have.Such as good energy saving,low driving noise,good ride comfort and low investment cost,etc.Therefore,urban rail transit is widely used in large and mediumsized cities all over the world.With the improvement of life quality and social progress,people have higher requirements on the safety and comfort of high-speed train operation.Overturning and derailment of straddle monorail train may occur under unstable condition.Therefore,ensure the good curve passing and stability of straddle monorail vehicle has become the most important part of bogie performance research.The change of bogie attitude directly affects the running state of Straddle-type Monorail vehicles,and seriously affects the ride comfort,safety and running stability.According to the structure and operation characteristics of straddle monorail Bogies.A straddle-type single-track single-axle bogie test-bed is presented,which can be used for many kinds of test analysis.Static stiffness test,dynamic stiffness test,excitation test,fatigue test,vehicle performance test and bogie pose simulation can be achieved on the test bench.It provides an important basis for operation quality assessment,route rationalization evaluation and optimization of bogie.The main content and conclusions in this paper are divided into the following parts:(1)In order to satisfy the design of the test bench and the calculation of position and posture,the structure composition and characteristics of straddle type monorail single axle bogie and test bench will be introduced.And six single-degree-of-freedom vibration modes of Straddle-type Monorail Vehicle Bogies will be summarized,including rectilinear motion,transverse motion,heaving motion,rolling motion,nodding motion and yawing motion.In the actual running,the motion modes of Straddle-type Monorail Vehicle can be composed of any of the six vibration modes.According to the structure and vibration form of test bench,the function of the test bench can be determined,such as static stiffness test,dynamic stiffness test,vibration excitation test,fatigue test,whole vehicle performance test and motion attitude simulation of bogie.(2)Crank intensity check analysis of bearing seat and dynamic modeling of Straddle-type Monorail Vehicle are the basis of pose calculation on the test bench.Physical modeling and static analysis of bearing seat connected to the hydraulic actuators can be achieved through HyperMesh and ABAQUS.The analysis results show that the deformation of bearing seat is much smaller than the motion range.It can be assumed that all bearing seats are rigid bodies.Choosing the geometric center of bogie as the origin point of the relative coordinate system.Establish the position and pose inverse solve solution model based on the steering wheel and stable wheel campaign Platform of Straddle Type Monorail Single Axle Bogie.By the using the transformation of homogeneous coordinate,the motion attitude of straddle type monorail single axle bogie and the corresponding actuator expansion amount can be obtained.(3)Establish the position and pose inverse solve solution model by Matlab.Given the motion attitude of straddle monorail single axle bogie,the variation of the expansion amount and contraction of each actuator can be solved by homogeneous coordinate transformation.The actuator expansion amount of steering wheel and stable wheel platform of Straddle Type Monorail Single Axle Bogie motion platform can be solved by Matlab.The motion posture of the test bench includes transverse motion,yawing motion,rolling motion,coupled motion of transverse and yawing motion,coupled motion of yawing and rolling vibration,coupled motion of transverse,yawing and rolling motion.The expansion amount curve of the actuator under different bogie motion attitude is obtained.It provides experimental data and theoretical support for the comparison and verification of simulation results.(4)SolidWorks is used to build simplified model for motion platform and bogie for guiding wheel and stable wheel of Straddle-Type Monorail Vehicle.Motion module is used to analyze the motion posture of bogie.Comparing the actuator expansion amount results of two simulations by MATLAB.Verify the validity of the StraddleType Monorail Vehicle's guide wheel and stabilizer wheel motion platform simulation model.At the same time,the rationality and feasibility of the pose calculation model are verified.