CN113640021A - Rolling test bed for developing active guide controller of double-shaft independent wheel bogie - Google Patents
Rolling test bed for developing active guide controller of double-shaft independent wheel bogie Download PDFInfo
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- CN113640021A CN113640021A CN202110999895.4A CN202110999895A CN113640021A CN 113640021 A CN113640021 A CN 113640021A CN 202110999895 A CN202110999895 A CN 202110999895A CN 113640021 A CN113640021 A CN 113640021A
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Abstract
The invention provides a rolling test bed for developing an active guide controller of a double-shaft independent wheel bogie, which comprises a rack, an ultrahigh simulation device, a longitudinal positioning device, an active guide execution device, an independent wheel bogie half-car model, a data measurement device and a track wheel assembly, wherein the ultrahigh simulation device is connected with the vertical positioning device; the installation space and the dynamic performance of bogie are considered in this test bench, will take the initiative and lead the actuator to arrange the automobile body in and convert the flexible action of actuator into the action of shaking the head of independent wheel through one set of link mechanism to realize the direction purpose, but the number of times of circuit test in independent wheel initiative steering control ware development process that significantly reduces, thereby practice thrift a large amount of manpowers, material resources, financial resources.
Description
Technical Field
The invention belongs to the technical field of independent wheel guidance in the rail vehicle industry, and particularly relates to a rolling test bed for development of an active guidance controller of a double-shaft independent wheel bogie.
Background
The guiding problem of the independent wheels is met in the application of the low floor technology of 100 percent of urban rail transit vehicles. The independent wheels decouple the left wheel and the right wheel, so that the longitudinal creep force is lost, and the guiding capability of the independent wheels is weakened, thereby causing the problems of safety, abrasion, noise and the like. The improvement of the guiding capability of the independent wheels is very important for the vigorous development of urban rail transit vehicles with 100% low floor surfaces.
The solution of adopting active guiding for the independent wheel by combining the electromechanical integration technology is an effective way for improving the guiding capability and improving the problems. In order to develop a reasonable and efficient active steering controller and test its performance, it is necessary to perform related experiments. Because the line test period is long and the cost is high, the early-stage test by utilizing the rolling test bed in a laboratory is more suitable. Considering that the test bed is used for developing and testing the active guide controller of the independent wheel, comprehensively considering factors such as space, cost and the like, the real vehicle does not need to be restored by 1:1, and the rolling test bed can meet the test requirements by adopting a 1:5 reduced proportion design.
Disclosure of Invention
The test bed can simulate the working condition of the bogie when passing through a curve and comprises two characteristics of superelevation, deficiency and length difference of inner and outer rails. The active guiding controller is developed and tested based on the test bed, so that the effectiveness of the active guiding scheme of the independent wheel is verified, and the active guiding controller with good effect is expected to be obtained.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a roll test stand for development of a dual axle independent wheel truck active steering controller, comprising:
a rack 7: the testing device is positioned at the bottom of the test bed and used for fixing various structures;
the ultrahigh simulation device 6: the bottom of the track wheel assembly is fixed on a bottom plate of the frame 7 and used for simulating the ultrahigh characteristics of a track curve line, and the track wheel assembly is matched with the track wheel assembly 5 to realize the simulation of various line working conditions;
longitudinal positioning device 1: one end of the semi-truck model 3 is connected with the side frame of the frame 7, and the other end of the semi-truck model 3 is connected with the truck body 309 of the independent wheel bogie, so that the longitudinal degree of freedom of the test bed is limited, and the stability of the test bed is kept;
active guidance execution device 2: the swing moment is applied to the independent wheels to rotate around the Z axis so as to realize active guiding attitude control;
semi-truck model of independent wheel bogie 3: vertically above the rail-wheel assembly 5, for simulating a real rail-bound vehicle equipped with independent-wheel bogies;
the data measuring device 4: a part of the bogie is arranged on the track wheel assembly 5, and a part of the bogie is fixedly connected to an axle 302 of the independent wheel bogie semi-model 3; the device is used for measuring the transverse displacement of the independent wheel, the head shaking angle and the ultrahigh angle of the independent wheel, developing an active guide controller according to the measured data and evaluating the performance of the active guide controller;
the track wheel assembly 5: the rotating freedom degree around the Y axis is arranged above the ultrahigh simulation device 6 and is relative to an ultrahigh rotating shaft 605 of the ultrahigh simulation device 6, so that the rotating freedom degree is used for simulating an infinitely long track under laboratory conditions, and the rotating speeds of independent wheels required by tests under different working conditions are realized by controlling a driving motor of the rotating freedom degree;
the rolling direction of the independent wheels is a Y axis, the transverse moving direction of the independent wheels is an X axis, a Z axis is perpendicular to the plane of the XY axes, the X axis is transverse, the Y axis is longitudinal, and the Z axis is vertical.
Preferably, the test bed state information acquired by the data measuring device 4 is used as input information of the active guidance controller, the controller sends out an instruction and then the active guidance execution device 2 acts, and an experimenter observes the behavior of the independent wheel and analyzes the data to judge the performance of the controller.
Preferably, the longitudinal positioning device 1 is arranged along the longitudinal direction and comprises a longitudinal positioning stud 101, a longitudinal positioning sleeve 102, a longitudinal positioning pin 103, a longitudinal positioning rod 104, a bearing sleeve 105, a thrust knuckle bearing 106 and a longitudinal positioning mounting seat 107;
one end of the longitudinal positioning device 1 is fixedly connected with a vehicle body 309, the other end of the longitudinal positioning device is provided with a longitudinal positioning mounting seat 107, the longitudinal positioning mounting seat 107 is fixedly connected with a longitudinal positioning mounting plate 704 of the rack 7, the longitudinal positioning stud 101 is in threaded connection with the longitudinal positioning sleeve 102, the positioning rod 104 is inserted into the positioning sleeve 102, a small hole is formed in the corresponding position of the positioning rod 104 and the longitudinal positioning sleeve 102, the positioning pin 103 is inserted into the small hole to connect the positioning rod 104 with the positioning sleeve 102, two thrust joint bearings 106 are arranged in the bearing sleeve 105, and the positioning stud 101 is connected with a longitudinal positioning hole of the vehicle body.
Preferably, the active steering actuator 2 includes: the device comprises two active guide actuators 201 and two link devices, wherein each link device comprises a transverse link 202, a vertical link 203 and a longitudinal pull rod 204; the two active steering actuators 201 are rotationally symmetric about the Z-axis in the XOY plane, and the two linkage arrangements are symmetric about the XOZ plane;
the active guide actuator 201 is connected to the vehicle body 309 through a bolt, an execution part of the active guide actuator 201 stretches longitudinally, the transverse connecting rod 202 is transversely arranged and penetrates through the execution part of the active guide actuator 201, two ends of the transverse connecting rod 202 are respectively connected with a vertical connecting rod 203 which is vertically arranged, one end, far away from the transverse connecting rod 202, of the vertical connecting rod 203 is connected with a longitudinal pull rod 204, a central hole of one end, not connected with the vertical connecting rod 203, of the longitudinal pull rod 204 is sleeved on the vehicle axle 302, a hole is formed in the middle of the transverse connecting rod 202 and connected with the vertical supporting rod 307, and a hole is formed in the middle of the vertical connecting rod 203 and connected with the transverse supporting rod 310.
Preferably, the individual wheel bogie semi-truck model 3 includes: independent wheels 301, axles 302, axle boxes 303, axle boxes 304, primary suspensions 305, bogie frames 306, secondary suspensions 308, body 309,
a vertical strut 307 and a transverse strut 310 are arranged on the bogie frame 306 and are used for providing a rotating fulcrum for a link mechanism of the active guiding execution device; the secondary suspension device 308 is vertically fixed on the bogie frame 306, a vehicle body 309 is fixedly connected above the secondary suspension device 308, the vehicle body 309 comprises a bottom plate and two side plates vertically connected above the bottom plate, the side plates are fixedly connected with a base of the active guide actuator 201, a primary suspension device 305 is fixed at the bottom of the bogie frame 306, one end of the primary suspension device 305 is connected with the bogie frame 306, the other end of the primary suspension device is connected with an axle box 304, the axle box 304 is rotatably connected with the axle 302, the axle 302 is transversely arranged, the independent wheel 301 is rotatably connected on the axle 302, the independent wheel 301 is contacted with a rail wheel 507 of the rail wheel assembly 5, and the rail wheel shaft 508 and the axle 302 are on the same plane formed by an X-axis Z-axis.
Preferably, the data measuring device 4 is arranged in a vertical direction, and includes a lateral displacement sensor mounting seat 401, a lateral displacement sensor 402, an attitude sensor mounting seat 403, and an attitude sensor 404;
the lower end of the transverse displacement sensor mounting seat 401 is fixed on the rail wheel mounting plate 501 through bolts; a transverse displacement sensor 402 is arranged at the upper end of the transverse displacement sensor mounting seat 401, and the transverse displacement sensor 402 is used for measuring the transverse displacement of the independent wheel 301; the axle 302 penetrates into the middle position of the attitude sensor mounting seat 403; the attitude sensor mount 403 mounts an attitude sensor 404, and the attitude sensor 404 is used to measure the oscillation angle of the individual wheel 301.
Preferably, the track wheel assembly 5 comprises a track wheel mounting plate 501 and 4 sets of track wheel assemblies, each set of track wheel assembly comprises a track wheel driving motor mounting seat 502, a track wheel driving motor 503, a speed reducer 504, a diaphragm type coupling 505, a first bearing with seat 506, a track wheel 507, a track wheel shaft 508 and a track wheel mounting seat 509 which are fixed on the track wheel mounting plate 501; 4 sets of track wheel assemblies 5 are symmetrically arranged about an XOZ plane and a YOZ plane respectively;
the lower portion of a rail wheel driving motor mounting seat 502 is fixed on a rail wheel mounting plate 501 through bolts, the upper portion of the rail wheel driving motor mounting seat 502 is connected with a rail wheel driving motor 503 through bolts, the rail wheel driving motor 503 is connected with a diaphragm type coupler 505 through a speed reducer 504, the rail wheel driving motor 503 is connected with a rail wheel shaft 508 through the diaphragm type coupler 505, the rail wheel shaft 508 is transversely arranged, a first pedestal bearing 506 is rotatably connected with the rail wheel shaft 508, the first pedestal bearing 506 is connected with the rail wheel mounting seat 509 through bolts, the rail wheel mounting seat 509 is fixed on the rail wheel mounting plate 501 through bolts, and the rail wheel shaft 508 is connected with the rail wheel 507 in an interference fit mode.
Preferably, the frame 7 comprises: the base plate 701, prevent superelevation shroud plate 706 fixed on base plate 701 and two sets of mounting brackets of setting about the XOZ plane symmetry, each set of mounting bracket includes: an ultrahigh rotating shaft mounting seat 702, a side frame 703, a longitudinal positioning mounting plate 704 and a bearing seat 705;
the ultrahigh rotating shaft mounting seat 702 is connected with a third pedestal bearing 606, a bearing seat 705 supports a rail wheel mounting plate 501, a longitudinal positioning mounting plate 704 is fixedly connected to the top of the side frame 703, and the longitudinal positioning mounting plate 704 is connected with the longitudinal positioning mounting seat 107;
the ultrahigh rotating shaft mounting seat 702, the side frame 703, the bearing seat 705 and the ultrahigh inclination preventing plate 706 are all fixed on the bottom plate 701.
Preferably, the superelevation simulation apparatus 6 includes a lifting device and a rotating device, and the lifting device includes: lifting actuator mount 601, lifting actuator 602, lifting actuator pivot 603, second pedestal bearing 604, rotating device includes: an ultrahigh rotating shaft 605, a third pedestal bearing 606 and a fourth pedestal bearing 607;
the lifting device is fixed at one end, close to the ultrahigh inclination prevention plate 706, of the bottom plate 701, the ultrahigh inclination prevention plate 706 limits the limit position of all components of the ultrahigh simulation device 6 rotating around the X axis, the rotating device is fixed at one end, far away from the ultrahigh inclination prevention plate 706, of the bottom plate 701, the lifting actuator 602 is installed above the lifting actuator installation seat 601, the execution part of the lifting actuator 602 is vertical, the lifting actuator 602 pushes the lifting actuator rotating shaft 603 and the second pedestal bearing 604 to move vertically, the lifting actuator rotating shaft 603 is inserted into the execution part of the lifting actuator 602, the lifting actuator rotating shaft 603 is transversely arranged, and two ends of the lifting actuator rotating shaft 603 are connected with the second pedestal bearing 604;
the ultrahigh rotating shaft 605 is arranged longitudinally, each end of the ultrahigh rotating shaft 605 is connected with a third bearing with a seat 606 and a fourth bearing with a seat 607, the fourth bearing with a seat 607 is fixedly connected with the rail wheel mounting plate 501 above, and the third bearing with a seat 606 is connected with the ultrahigh rotating shaft mounting seat 702 below;
the ultrahigh lifting actuator mounting base 601 is fixedly connected to the base plate 701, and the seated bearing 604 is fixedly connected to the rail wheel mounting plate 501 above.
Preferably, the size ratio of the semi-truck model of the independent wheel bogie to the corresponding real railway vehicle is 1: 5.
Preferably, the rail wheel drive motor is a dc motor.
The working principle of the invention is as follows:
the track wheel driving motor 503 drives the track wheel 507 of the track wheel assembly to rotate, the track wheel 507 drives the independent wheel 301 above the track wheel assembly to rotate, the lifting device of the ultrahigh simulation device 6 is started to enable the track wheel assembly 5 to rotate around the Y axis, the track wheel assembly 5 moves to the limit position when contacting with the ultrahigh inclination prevention plate 706 and the track wheel mounting plate 501, the active guiding actuator 201 receives the command of the active guiding controller to start to execute active guiding action, the active guiding actuator 201 does telescopic motion along the longitudinal direction, when the active guiding actuator 201 extends, the transverse connecting rod 202 does rotary motion around the Z axis by taking the vertical supporting rod 307 as a fulcrum, the vertical connecting rod 203 is driven to do rotary motion around the X axis by taking the transverse supporting rod 310 as a fulcrum, so as to drive the longitudinal pull rod 204 to do displacement along the longitudinal direction, and as the longitudinal pull rod 204 is connected with the axle 302, the axle 302 can be driven to do oscillating motion by the longitudinal pull rod 204 doing displacement motion along the longitudinal direction, thereby drive independent wheel 301 and do the motion of shaking the head, can control the angle of shaking the head of independent wheel 301 through the displacement of the executive component of control initiative direction actuator 201.
The part above the ultrahigh simulation device can rotate around the ultrahigh rotating shaft at the far end under the lifting action of the lifting actuator, so that the rail wheel at one end is lifted by a certain height compared with the other end, and the action simulates the ultrahigh characteristic of a real line. The length difference between the inner rail and the outer rail of the real line curve working condition is converted into the rotating speed difference of the left track wheel and the right track wheel through theoretical calculation, and the characteristic can be simulated by controlling the driving motors of the left track wheel and the right track wheel. And the controller sends out an instruction to the active guiding execution device to act according to the test bed state information acquired by the data measurement device as the input information of the active guiding controller, and experimenters observe the behavior of the independent wheel and analyze related data to judge the performance of the controller.
Compared with the prior art, the invention has the following advantages:
1. the test bed has good practicability, structurally simulates a double-shaft bogie vehicle provided with independent wheels, and accords with the development trend of the urban rail vehicle industry.
2. The test bed has good innovation, and the test bed considers that the mounting space of the bogie arranges the active guide actuator in the vehicle body, and converts the telescopic action of the actuator into the oscillating action of the independent wheel through one set of link mechanism so as to realize the guide purpose.
3. The expandability is good, the test bed mostly adopts bolt movable connection to avoid welding as much as possible, and the expansion possibility of the test bed is reserved, for example: changing the transverse position of the rail wheel mounting seat to simulate different wheel pair inner side distances; changing the longitudinal position of the rail wheel mounting seat to simulate bogies with different wheelbases; the left and right track wheels are connected through the coupler, so that the independent wheels can be converted into traditional wheel pairs; different axle load conditions and the like are simulated by changing the balance weight of the vehicle body.
4. The test bench has good economy, and the circuit test can be carried out after the mature controller is obtained, so that the circuit test frequency in the development process of the independent wheel active steering controller can be greatly reduced, and a large amount of manpower, material resources and financial resources are saved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a longitudinal positioning device;
FIG. 3 is a schematic structural diagram of an active guiding actuator;
FIG. 4 is a schematic structural view of a semi-truck model of the bogie with independent wheels;
FIG. 5 is a schematic diagram of a data measurement device;
FIG. 6 is a schematic structural view of a rail-wheel assembly;
FIG. 7 is a schematic view of the structure of the super high simulation apparatus;
FIG. 8 is a schematic view of a frame structure;
the device comprises a longitudinal positioning device 1, an active guiding execution device 2, an independent wheel bogie semi-truck model 3, a data measuring device 4, a track wheel assembly 5, an ultrahigh simulation device 6 and a rack 7, wherein the track wheel assembly is arranged on the track wheel assembly;
101 is a longitudinal positioning stud, 102 is a longitudinal positioning sleeve, 103 is a longitudinal positioning pin, 104 is a longitudinal positioning rod, 105 is a bearing sleeve, 106 is a thrust joint bearing, and 107 is a longitudinal positioning mounting seat;
201 is an active guide actuator, 202 is a transverse connecting rod, 203 is a vertical connecting rod, and 204 is a longitudinal pull rod;
301 is an independent wheel, 302 is an axle, 303 is an axle box cover, 304 is an axle box, 305 is a primary suspension device, 306 is a bogie frame, 307 is a vertical strut, 308 is a secondary suspension device, 309 is a vehicle body, 310 is a transverse strut;
401 is a transverse displacement sensor mounting seat, 402 is a transverse displacement sensor, 403 is an attitude sensor mounting seat, and 404 is an attitude sensor;
501 is a rail wheel mounting plate, 502 is a rail wheel drive motor mounting seat, 503 is a rail wheel drive motor, 504 is a speed reducer, 505 is a diaphragm type coupling, 506 is a first bearing with a seat, 507 is a rail wheel, 508 is a rail wheel shaft and 509 is a rail wheel mounting seat;
601 is a lifting actuator mounting seat, 602 is a lifting actuator, 603 is a lifting actuator rotating shaft, 604 is a second bearing with a seat, 605 is an ultrahigh rotating shaft, 606 is a third bearing with a seat, and 607 is a fourth bearing with a seat;
701 is a bottom plate, 702 is an ultrahigh rotating shaft mounting seat, 703 is a side frame, 704 is a longitudinal positioning mounting plate, 705 is a bearing seat, and 706 is an ultrahigh inclination prevention plate.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
As shown in fig. 1, a rolling test stand for development of an active steering controller for a dual axle independent wheel truck, comprising:
a rack 7: the testing device is positioned at the bottom of the test bed and used for fixing various structures;
the ultrahigh simulation device 6: the bottom of the track wheel assembly is fixed on a bottom plate of the frame 7 and used for simulating the ultrahigh characteristics of a track curve line, and the track wheel assembly is matched with the track wheel assembly 5 to realize the simulation of various line working conditions;
longitudinal positioning device 1: one end of the semi-truck model 3 is connected with the side frame of the frame 7, and the other end of the semi-truck model 3 is connected with the truck body 309 of the independent wheel bogie, so that the longitudinal degree of freedom of the test bed is limited, and the stability of the test bed is kept;
active guidance execution device 2: the swing moment is applied to the independent wheels to rotate around the Z axis so as to realize active guiding attitude control;
semi-truck model of independent wheel bogie 3: vertically above the rail-wheel assembly 5, for simulating a real vehicle equipped with an independent-wheel bogie;
the data measuring device 4: a part of the bogie is arranged on the track wheel assembly 5, and a part of the bogie is fixedly connected to an axle 302 of the independent wheel bogie semi-model 3; the device is used for measuring the transverse displacement of the independent wheel, the head shaking angle and the ultrahigh angle of the independent wheel, developing an active guide controller according to the measured data and evaluating the performance of the active guide controller;
the track wheel assembly 5: the rotating freedom degree around the Y axis is arranged above the ultrahigh simulation device 6 and is relative to an ultrahigh rotating shaft 605 of the ultrahigh simulation device 6, so that the rotating freedom degree is used for simulating an infinitely long track under laboratory conditions, and the rotating speeds of independent wheels required by tests under different working conditions are realized by controlling a driving motor of the rotating freedom degree;
the rolling direction of the independent wheels is a Y axis, the transverse moving direction of the independent wheels is an X axis, a Z axis is perpendicular to the plane of the XY axes, the X axis is transverse, the Y axis is longitudinal, and the Z axis is vertical.
The test bed state information acquired by the data measuring device 4 is used as the input information of the active guiding controller, the controller sends an instruction and then the active guiding execution device 2 acts, and an experimenter observes the behavior of an independent wheel and analyzes the data to judge the performance of the controller.
As shown in fig. 2, the longitudinal positioning device 1 is arranged along the longitudinal direction, and includes a longitudinal positioning stud 101, a longitudinal positioning sleeve 102, a longitudinal positioning pin 103, a longitudinal positioning rod 104, a bearing sleeve 105, a thrust knuckle bearing 106, and a longitudinal positioning mount 107;
one end of the longitudinal positioning device 1 is fixedly connected with a vehicle body 309, the other end of the longitudinal positioning device is provided with a longitudinal positioning mounting seat 107, the longitudinal positioning mounting seat 107 is fixedly connected with a longitudinal positioning mounting plate 704 of the rack 7, the longitudinal positioning stud 101 is in threaded connection with the longitudinal positioning sleeve 102, the positioning rod 104 is inserted into the positioning sleeve 102, a small hole is formed in the corresponding position of the positioning rod 104 and the longitudinal positioning sleeve 102, the positioning pin 103 is inserted into the small hole to connect the positioning rod 104 with the positioning sleeve 102, two thrust joint bearings 106 are arranged in the bearing sleeve 105, and the positioning stud 101 is connected with a longitudinal positioning hole of the vehicle body. The thrust knuckle bearing can only limit the longitudinal degree of freedom of the vehicle body, and the longitudinal positioning device ensures the stability of the test bed.
As shown in fig. 3, the active steering actuator 2 includes: the device comprises two active guide actuators 201 and two link devices, wherein each link device comprises a transverse link 202, a vertical link 203 and a longitudinal pull rod 204; the two active steering actuators 201 are rotationally symmetric about the Z-axis in the XOY plane, and the two linkage arrangements are symmetric about the XOZ plane;
the active guide actuator 201 is connected to the vehicle body 309 through a bolt, an execution part of the active guide actuator 201 stretches longitudinally, the transverse connecting rod 202 is transversely arranged and penetrates through the execution part of the active guide actuator 201, two ends of the transverse connecting rod 202 are respectively connected with a vertical connecting rod 203 which is vertically arranged, one end, far away from the transverse connecting rod 202, of the vertical connecting rod 203 is connected with a longitudinal pull rod 204, a central hole of one end, not connected with the vertical connecting rod 203, of the longitudinal pull rod 204 is sleeved on the vehicle axle 302, a hole is formed in the middle of the transverse connecting rod 202 and connected with the vertical supporting rod 307, and a hole is formed in the middle of the vertical connecting rod 203 and connected with the transverse supporting rod 310. The telescopic motion of the actuator is converted into the oscillating motion of the independent wheel through the link mechanism, and the transverse displacement of the independent wheel relative to the central line of the rail wheel is adjusted to improve the curve passing capacity of the independent wheel.
As shown in fig. 4, the individual wheel bogie semi-truck model 3 includes: independent wheels 301, axles 302, axle boxes 303, axle boxes 304, primary suspensions 305, bogie frames 306, secondary suspensions 308, body 309,
a vertical strut 307 and a transverse strut 310 are arranged on the bogie frame 306 and are used for providing a rotating fulcrum for a link mechanism of the active guiding execution device; the secondary suspension device 308 is vertically fixed on the bogie frame 306, a vehicle body 309 is fixedly connected above the secondary suspension device 308, the vehicle body 309 comprises a bottom plate and two side plates vertically connected above the bottom plate, the side plates are fixedly connected with a base of the active guide actuator 201, a primary suspension device 305 is fixed at the bottom of the bogie frame 306, one end of the primary suspension device 305 is connected with the bogie frame 306, the other end of the primary suspension device is connected with an axle box 304, the axle box 304 is rotatably connected with the axle 302, the axle 302 is transversely arranged, the independent wheel 301 is rotatably connected on the axle 302, the independent wheel 301 is contacted with a rail wheel 507 of the rail wheel assembly 5, and the rail wheel shaft 508 and the axle 302 are on the same plane formed by an X-axis Z-axis.
As shown in fig. 5, the data measuring device 4 is arranged in a vertical direction, and includes a lateral displacement sensor mounting seat 401, a lateral displacement sensor 402, an attitude sensor mounting seat 403, and an attitude sensor 404;
the lower end of the transverse displacement sensor mounting seat 401 is fixed on the rail wheel mounting plate 501 through bolts; a transverse displacement sensor 402 is arranged at the upper end of the transverse displacement sensor mounting seat 401, and the transverse displacement sensor 402 is used for measuring the transverse displacement of the independent wheel 301; the axle 302 penetrates into the middle position of the attitude sensor mounting seat 403; the attitude sensor mount 403 mounts an attitude sensor 404, and the attitude sensor 404 is used to measure the oscillation angle of the individual wheel 301.
As shown in fig. 6, the track wheel assembly 5 comprises a track wheel mounting plate 501 and 4 sets of track wheel assemblies, each set of track wheel assembly comprises a track wheel driving motor mounting base 502, a track wheel driving motor 503, a speed reducer 504, a diaphragm coupling 505, a first seated bearing 506, a track wheel 507, a track wheel shaft 508 and a track wheel mounting base 509 which are fixed on the track wheel mounting plate 501; 4 sets of track wheel assemblies 5 are symmetrically arranged about an XOZ plane and a YOZ plane respectively;
the lower portion of a rail wheel driving motor mounting seat 502 is fixed on a rail wheel mounting plate 501 through bolts, the upper portion of the rail wheel driving motor mounting seat 502 is connected with a rail wheel driving motor 503 through bolts, the rail wheel driving motor 503 is connected with a diaphragm type coupler 505 through a speed reducer 504, the rail wheel driving motor 503 is connected with a rail wheel shaft 508 through the diaphragm type coupler 505, the rail wheel shaft 508 is transversely arranged, a first pedestal bearing 506 is rotatably connected with the rail wheel shaft 508, the first pedestal bearing 506 is connected with the rail wheel mounting seat 509 through bolts, the rail wheel mounting seat 509 is fixed on the rail wheel mounting plate 501 through bolts, and the rail wheel shaft 508 is connected with the rail wheel 507 in an interference fit mode.
As shown in fig. 8, the rack 7 includes: the base plate 701, prevent superelevation shroud plate 706 fixed on base plate 701 and two sets of mounting brackets of setting about the XOZ plane symmetry, each set of mounting bracket includes: an ultrahigh rotating shaft mounting seat 702, a side frame 703, a longitudinal positioning mounting plate 704 and a bearing seat 705;
the ultrahigh rotating shaft mounting seat 702 is connected with a third pedestal bearing 606, a bearing seat 705 supports a rail wheel mounting plate 501, a longitudinal positioning mounting plate 704 is fixedly connected to the top of the side frame 703, and the longitudinal positioning mounting plate 704 is connected with the longitudinal positioning mounting seat 107;
the ultrahigh rotating shaft mounting seat 702, the side frame 703, the bearing seat 705 and the ultrahigh inclination preventing plate 706 are all fixed on the bottom plate 701.
As shown in fig. 7, the superelevation simulation apparatus 6 includes a lifting device and a rotating device, and the lifting device includes: lifting actuator mount 601, lifting actuator 602, lifting actuator pivot 603, second pedestal bearing 604, rotating device includes: an ultrahigh rotating shaft 605, a third pedestal bearing 606 and a fourth pedestal bearing 607;
the lifting device is fixed at one end, close to the ultrahigh inclination prevention plate 706, of the bottom plate 701, the ultrahigh inclination prevention plate 706 limits the limit position of all components of the ultrahigh simulation device 6 rotating around the X axis, the rotating device is fixed at one end, far away from the ultrahigh inclination prevention plate 706, of the bottom plate 701, the lifting actuator 602 is installed above the lifting actuator installation seat 601, the execution part of the lifting actuator 602 is vertical, the lifting actuator 602 pushes the lifting actuator rotating shaft 603 and the second pedestal bearing 604 to move vertically, the lifting actuator rotating shaft 603 is inserted into the execution part of the lifting actuator 602, the lifting actuator rotating shaft 603 is transversely arranged, and two ends of the lifting actuator rotating shaft 603 are connected with the second pedestal bearing 604;
the ultrahigh rotating shaft 605 is arranged longitudinally, each end of the ultrahigh rotating shaft 605 is connected with a third bearing with a seat 606 and a fourth bearing with a seat 607, the fourth bearing with a seat 607 is fixedly connected with the rail wheel mounting plate 501 above, and the third bearing with a seat 606 is connected with the ultrahigh rotating shaft mounting seat 702 below;
the ultrahigh lifting actuator mounting base 601 is fixedly connected to the base plate 701, and the seated bearing 604 is fixedly connected to the rail wheel mounting plate 501 above.
The size ratio of the semi-truck model of the independent wheel bogie to the corresponding real rail transit vehicle is 1: 5.
The track wheel driving motor is a direct current motor, can obtain rotating speed information through an encoder arranged on the track wheel driving motor, and indirectly simulates the length difference of an inner rail and an outer rail of a curve working condition by controlling the rotating speed difference of the track wheels on the left side and the right side.
The working principle of the invention is as follows:
the track wheel driving motor 503 drives the track wheel 507 of the track wheel assembly to rotate, the track wheel 507 drives the independent wheel 301 above the track wheel assembly to rotate, the lifting device of the ultrahigh simulation device 6 is started to enable the track wheel assembly 5 to rotate around the Y axis, the track wheel assembly 5 moves to the limit position when contacting with the ultrahigh inclination prevention plate 706 and the track wheel mounting plate 501, the active guiding actuator 201 receives the command of the active guiding controller to start to execute active guiding action, the active guiding actuator 201 does telescopic motion along the longitudinal direction, when the active guiding actuator 201 extends, the transverse connecting rod 202 does rotary motion around the Z axis by taking the vertical supporting rod 307 as a fulcrum, the vertical connecting rod 203 is driven to do rotary motion around the X axis by taking the transverse supporting rod 310 as a fulcrum, so as to drive the longitudinal pull rod 204 to do displacement along the longitudinal direction, and as the longitudinal pull rod 204 is connected with the axle 302, the axle 302 can be driven to do oscillating motion by the longitudinal pull rod 204 doing displacement motion along the longitudinal direction, thereby drive independent wheel 301 and do the motion of shaking the head, can control the angle of shaking the head of independent wheel 301 through the displacement of the executive component of control initiative direction actuator 201.
The part above the ultrahigh simulation device can rotate around the ultrahigh rotating shaft at the far end under the lifting action of the lifting actuator, so that the rail wheel at one end can be lifted by a certain height compared with the other end, and the ultrahigh characteristics of a real line are simulated. The length difference between the inner rail and the outer rail of the real line curve working condition is converted into the rotating speed difference of the left track wheel and the right track wheel through theoretical calculation, and the characteristic can be simulated by controlling the driving motors of the left track wheel and the right track wheel. And the controller sends out an instruction to the active guiding execution device to act according to the test bed state information acquired by the data measurement device as the input information of the active guiding controller, and experimenters observe the behavior of the independent wheel and analyze related data to judge the performance of the controller.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (11)
1. A rolling test bench for the development of active steering controllers for dual-axle independent wheel bogies, comprising:
a frame (7): the testing device is positioned at the bottom of the test bed and used for fixing various structures;
ultrahigh simulation device (6): the bottom of the track wheel assembly is fixed on a bottom plate of the rack (7) and used for simulating the ultrahigh characteristics of a track curve line, and the track wheel assembly is matched with the track wheel assembly (5) to realize the simulation of various line working conditions;
longitudinal positioning device (1): one end of the car body (309) is connected with a side frame of the frame (7), and the other end of the car body is connected with a half car model (3) of the independent wheel bogie, so that the longitudinal degree of freedom of the test bed is limited, and the stability of the test bed is kept;
active guiding actuator (2): the swing moment rotating around the Z axis is applied to the independent wheels to realize active guiding attitude control;
semi-truck model of independent wheel bogie (3): vertically above the rail-wheel assembly (5) for simulating a real vehicle equipped with an independent-wheel bogie;
data measurement device (4): one part of the bogie is arranged on the track wheel assembly (5), and the other part of the bogie is fixedly connected to an axle (302) of the independent wheel bogie semi-vehicle model (3); the device is used for measuring the transverse displacement of the independent wheel, the head shaking angle and the ultrahigh angle of the independent wheel, developing an active guide controller according to the measured data and evaluating the performance of the active guide controller;
rail-wheel assembly (5): the rotating freedom degree around the Y axis is arranged above the ultrahigh simulation device (6) and is relative to an ultrahigh rotating shaft (605) of the ultrahigh simulation device (6), so that the rotating freedom degree is used for simulating an infinitely long track under laboratory conditions, and the rotating speed of the independent wheel required by tests under different working conditions is realized by controlling a driving motor of the rotating freedom degree;
the rolling direction of the independent wheels is a Y axis, the transverse moving direction of the independent wheels is an X axis, a Z axis is perpendicular to the plane of the XY axes, the X axis is transverse, the Y axis is longitudinal, and the Z axis is vertical.
2. A roll test rig for development of a dual axle independent wheel truck active steering controller according to claim 1, wherein: the test bed state information acquired by the data measuring device (4) is used as input information of the active guiding controller, the active guiding execution device (2) acts after the controller sends an instruction, and experimenters observe the behavior of independent wheels and analyze data to judge the performance of the controller.
3. A roll test rig for development of a dual axle independent wheel truck active steering controller according to claim 1, wherein: the longitudinal positioning device (1) is arranged along the longitudinal direction and comprises a longitudinal positioning stud (101), a longitudinal positioning sleeve (102), a longitudinal positioning pin (103), a longitudinal positioning rod (104), a bearing sleeve (105), a thrust joint bearing (106) and a longitudinal positioning mounting seat (107);
one end of the longitudinal positioning device (1) is fixedly connected with a vehicle body (309), the other end of the longitudinal positioning device is provided with a longitudinal positioning mounting seat (107), the longitudinal positioning mounting seat (107) is fixedly connected with a longitudinal positioning mounting plate (704) of the rack (7), a longitudinal positioning stud (101) is in threaded connection with a longitudinal positioning sleeve (102), the positioning rod (104) is inserted into the positioning sleeve (102), a small hole is formed in the corresponding position of the positioning rod (104) and the longitudinal positioning sleeve (102), a positioning pin (103) is inserted into the small hole to connect the positioning rod (104) with the positioning sleeve (102), two thrust joint bearings (106) are arranged in a bearing sleeve (105), and the positioning stud (101) is connected with a longitudinal positioning hole of the vehicle body.
4. A roll test rig for development of a dual axle independent wheel truck active steering controller according to claim 1, wherein: the active steering actuator (2) comprises: the device comprises two active guide actuators (201) and two connecting rod devices, wherein each connecting rod device comprises a transverse connecting rod (202), a vertical connecting rod (203) and a longitudinal pull rod (204); the two active guiding actuators (201) are rotationally symmetrical about the Z axis in an XOY plane, and the two link devices are symmetrical about the XOZ plane;
the active guide actuator (201) is connected to a vehicle body (309) through a bolt, an execution part of the active guide actuator (201) stretches longitudinally, a transverse connecting rod (202) is transversely arranged and penetrates through the execution part of the active guide actuator (201), two ends of the transverse connecting rod (202) are respectively connected with a vertical connecting rod (203) which is vertically arranged, one end, far away from the transverse connecting rod (202), of the vertical connecting rod (203) is connected with a longitudinal vertical pull rod (204), a central hole, not connected with the vertical connecting rod (203), of one end of the longitudinal pull rod (204) is sleeved on a vehicle axle (302), a hole is formed in the middle of the transverse connecting rod (202) and connected with a vertical supporting rod (307), and a hole is formed in the middle of the vertical connecting rod (203) and connected with a transverse supporting rod (310).
5. A roll test rig for development of a dual axle independent wheel truck active steering controller according to claim 1, wherein: the semi-truck model (3) of the independent wheel bogie comprises: independent wheels (301), axles (302), axle boxes (303), axle boxes (304), primary suspension devices (305), bogie frames (306), secondary suspension devices (308) and vehicle bodies (309),
a vertical strut (307) and a transverse strut (310) are arranged on the bogie frame (306) and are used for providing a rotating fulcrum for a link mechanism of the active guide execution device; the secondary suspension device (308) is vertically fixed on a bogie frame (306), a vehicle body (309) is fixedly connected above the secondary suspension device (308), the vehicle body (309) comprises a bottom plate, two side plates vertically connected above the bottom plate, the side plates are fixedly connected with a base of an active guide actuator (201), a primary suspension device (305) is fixed at the bottom of the bogie frame (306), one end of the primary suspension device (305) is connected with the bogie frame (306), the other end of the primary suspension device is connected with an axle box (304), the axle box (304) is rotatably connected with an axle (302), the axle (302) is transversely arranged, an independent wheel (301) is rotatably connected on the axle (302), the independent wheel (301) is contacted with a rail wheel (507) of a rail wheel assembly (5), and the rail wheel shaft (508) and the axle (302) are on a plane formed by an X-axis Z-axis.
6. A roll test rig for development of a dual axle independent wheel truck active steering controller according to claim 1, wherein: the data measuring device (4) is arranged along the vertical direction and comprises a transverse displacement sensor mounting seat (401), a transverse displacement sensor (402), an attitude sensor mounting seat (403) and an attitude sensor (404);
the lower end of the transverse displacement sensor mounting seat (401) is fixed on the rail wheel mounting plate (501) through bolts; a transverse displacement sensor (402) is arranged at the upper end of the transverse displacement sensor mounting seat (401), and the transverse displacement sensor (402) is used for measuring the transverse displacement of the independent wheel (301); the axle (302) penetrates into the middle position of the attitude sensor mounting seat (403); and the attitude sensor (404) is arranged on the attitude sensor mounting seat (403), and the attitude sensor (404) is used for measuring the shaking angle of the independent wheel (301).
7. A roll test rig for development of a dual axle independent wheel truck active steering controller according to claim 1, wherein: the track wheel assembly (5) comprises a track wheel mounting plate (501) and 4 sets of track wheel assemblies, each set of track wheel assembly comprises a track wheel driving motor mounting seat (502), a track wheel driving motor (503), a speed reducer (504), a diaphragm type coupling (505), a first bearing with a seat (506), a track wheel (507), a track wheel shaft (508) and a track wheel mounting seat (509) which are fixed on the track wheel mounting plate (501); 4 sets of track wheel assemblies (5) are symmetrically arranged about an XOZ plane and a YOZ plane respectively;
the track wheel driving motor installation seat is characterized in that the lower portion of a track wheel driving motor installation seat (502) is fixed on a track wheel installation plate (501) through a bolt, the upper portion of the track wheel driving motor installation seat (502) is connected with a track wheel driving motor (503) through a bolt, the track wheel driving motor (503) is connected with a diaphragm type coupling (505) through the diaphragm type coupling (505), the track wheel driving motor (503) is connected with a track wheel shaft (508) through the diaphragm type coupling (505), the track wheel shaft (508) is transversely arranged, a first bearing with a seat (506) is rotatably connected with the track wheel shaft (508), the first bearing with a seat (506) is connected with the track wheel installation seat (509) through a bolt, the track wheel installation seat (509) is fixed on the track wheel installation plate (501) through a bolt, and the track wheel shaft (508) is connected with a track wheel (507) in an interference fit mode.
8. A roll test rig for development of a dual axle independent wheel truck active steering controller according to claim 1, wherein: the frame (7) comprises: the anti-tilting floor comprises a base plate (701), an anti-tilting plate (706) fixed on the base plate (701), and two sets of mounting frames symmetrically arranged about an XOZ plane, wherein each set of mounting frame comprises: the device comprises an ultrahigh rotating shaft mounting seat (702), a side frame (703), a longitudinal positioning mounting plate (704) and a bearing seat (705);
the ultrahigh rotating shaft mounting seat (702) is connected with a third pedestal bearing (606), a bearing seat (705) supports a rail wheel mounting plate (501), a longitudinal positioning mounting plate (704) is fixedly connected to the top of the side frame (703), and the longitudinal positioning mounting plate (704) is connected with the longitudinal positioning mounting seat (107);
the ultrahigh rotating shaft mounting seat (702), the side frame (703), the bearing seat (705) and the ultrahigh inclination preventing plate (706) are all fixed on the bottom plate (701).
9. A roll test rig for development of a dual axle independent wheel truck active steering controller according to claim 1, wherein: superelevation analogue means (6) include lifting device and rotating device, and the lifting device includes: lift actuator mount pad (601), lift actuator (602), lift actuator pivot (603), second pedestal bearing (604), rotating device includes: an ultrahigh rotating shaft (605), a third bearing with a seat (606) and a fourth bearing with a seat (607);
the lifting device is fixed at one end, close to the anti-ultrahigh-inclination plate (706), of the bottom plate (701), the anti-ultrahigh-inclination plate (706) limits the limit position of all components of the ultrahigh simulation device (6) rotating around an X axis, the rotating device is fixed at one end, far away from the anti-ultrahigh-inclination plate (706), of the bottom plate (701), a lifting actuator (602) is installed above a lifting actuator installation seat (601), the execution part of the lifting actuator (602) is vertical, the lifting actuator (602) pushes a lifting actuator rotating shaft (603) and a second seated bearing (604) to move vertically, the lifting actuator rotating shaft (603) is inserted into the execution part of the lifting actuator (602), the lifting actuator rotating shaft (603) is transversely arranged, and two ends of the lifting actuator rotating shaft (603) are connected with the second seated bearing (604);
the ultrahigh rotating shaft (605) is longitudinally arranged, each end of the ultrahigh rotating shaft (605) is connected with a third bearing with a seat (606) and a fourth bearing with a seat (607), the fourth bearing with a seat (607) is fixedly connected with the rail wheel mounting plate (501) above, and the third bearing with a seat (606) is connected with the ultrahigh rotating shaft mounting seat (702) below;
the ultrahigh lifting actuator mounting seat (601) is fixedly connected to the bottom plate (701), and the bearing with a seat (604) is fixedly connected with the rail wheel mounting plate (501) above.
10. A roll test rig for development of a dual axle independent wheel truck active steering controller according to claim 1, wherein: the size ratio of the semi-truck model of the independent wheel bogie to the real rail transit vehicle is 1: 5.
11. A roll test rig for development of a dual axle independent wheel truck active steering controller according to claim 1, wherein: the rail wheel driving motor is a direct current motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110999895.4A CN113640021A (en) | 2021-08-26 | 2021-08-26 | Rolling test bed for developing active guide controller of double-shaft independent wheel bogie |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110999895.4A CN113640021A (en) | 2021-08-26 | 2021-08-26 | Rolling test bed for developing active guide controller of double-shaft independent wheel bogie |
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| Publication Number | Publication Date |
|---|---|
| CN113640021A true CN113640021A (en) | 2021-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110999895.4A Pending CN113640021A (en) | 2021-08-26 | 2021-08-26 | Rolling test bed for developing active guide controller of double-shaft independent wheel bogie |
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| CN (1) | CN113640021A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114701533A (en) * | 2022-04-08 | 2022-07-05 | 武汉理工大学 | Steering error calibration control method applied to multi-connecting-rod type active radial bogie |
| CN114701532A (en) * | 2022-04-08 | 2022-07-05 | 武汉理工大学 | Multi-connecting-rod steering mechanism suitable for train bogie |
-
2021
- 2021-08-26 CN CN202110999895.4A patent/CN113640021A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114701533A (en) * | 2022-04-08 | 2022-07-05 | 武汉理工大学 | Steering error calibration control method applied to multi-connecting-rod type active radial bogie |
| CN114701532A (en) * | 2022-04-08 | 2022-07-05 | 武汉理工大学 | Multi-connecting-rod steering mechanism suitable for train bogie |
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