Actuator position optimization method, system, device and vibration test bench

Abstract

The present invention discloses an actuator position optimization method, system, device and vibration test bench, which relate to the field of train testing. In the scheme, all vertical positions and all lateral positions that meet preset conditions are first combined to obtain multiple combined positions, and N vertical actuators and M lateral actuators are set at corresponding positions in the combined positions. A test is performed on each combined position. According to the loading force and analysis result of each actuator calculated in each test, compared with the simulation result, the combined position in which the loading force of the M lateral actuators is relatively uniform, the loading force of the N vertical actuators is relatively uniform, and the difference between the analysis result and the simulation structure is small can be selected as the optimal position, and it is correspondingly set at the optimal position. While ensuring the accuracy of the test, since the loading force is relatively uniform, it can be avoided that the loading force of a certain actuator is too large to cause deformation or damage to the vehicle body, thereby ensuring the safety and reliability of the test.

Description

Technical Field

[0001] The present invention relates to the field of train testing, and in particular to an actuator position optimization method, system, device and vibration test bench. Background Art

[0002] In order to ensure the safety and comfort of maglev trains during operation, it is currently necessary to simulate the vibration state of maglev trains during operation through a vibration test bench, and when building the test bench, actuators are generally required to simulate the forces exerted on the maglev trains during operation. Among them, the location of the actuator is very critical. If the location is not appropriate, the force on the vehicle body may be unconcentrated or uneven, resulting in deformation or structural damage due to concentrated force on the vehicle body.

[0003] Therefore, providing a method for optimizing the position of the actuator to avoid deformation or damage to the vehicle body is an issue that needs to be urgently addressed. Summary of the invention

[0004] The purpose of the present invention is to provide an actuator position optimization method, system, device and vibration test bench, which can select a combined position in which the loading forces of M lateral actuators are relatively uniform, the loading forces of N vertical actuators are relatively uniform, and the difference between the analysis result and the simulation structure is small as the optimal position, and set it accordingly at the optimal position. While ensuring the accuracy of the test, since the loading force is relatively uniform, it can be avoided that the loading force of a certain actuator is too large to cause deformation or damage to the vehicle body, thereby ensuring the safety and reliability of the test.

[0005] In order to solve the above technical problems, the present invention provides an actuator position optimization method, which is applied to a vibration test bench, wherein the vibration test bench comprises a vehicle body, N vertical actuators and M lateral actuators, wherein the N vertical actuators are arranged at the bottom of the vehicle body, and the M lateral actuators are arranged on the left side or the right side of the vehicle body, N≥4, M≥2, and M and N are both integers; the method comprises:

[0006] Preselecting a plurality of vertical positions of vertical actuators and a plurality of lateral positions of lateral actuators that meet preset conditions based on the structure of the vehicle body, wherein N is less than the number of the vertical positions, and M is less than the number of the lateral positions;

[0007] Sequentially selecting N of the vertical positions and M of the lateral positions for combination to obtain a plurality of combined positions, and setting the N vertical actuators and the M lateral actuators at positions corresponding to the combined positions;

[0008] Controlling the actions of the N vertical actuators and the M lateral actuators according to the simulation results of the simulation model;

[0009] Performing a moment analysis on the vehicle body to obtain an analysis result, and calculating a difference between the analysis result and the simulation result, a loading force of each of the vertical actuators, and a loading force of each of the lateral actuators;

[0010] Selecting the best position among the multiple combined positions according to the difference, the uniformity between the loading forces of the N vertical actuators, and the uniformity between the loading forces of the M lateral actuators;

[0011] The uniformity between the loading forces of the N vertical actuators is negatively correlated with the maximum value of the difference in loading forces between every two vertical actuators, and the uniformity between the loading forces of the M lateral actuators is negatively correlated with the maximum value of the difference in loading forces between two lateral actuators.

[0012] Preferably, based on the structure of the vehicle body, vertical positions of a plurality of vertical actuators and lateral positions of a plurality of lateral actuators that meet preset conditions are preselected, including:

[0013] The position at the bottom of the vehicle body where the bearing capacity is greater than the first preset bearing capacity is used as the vertical position;

[0014] The position on the left side or right side of the vehicle body where the bearing capacity is greater than the second preset bearing capacity is used as the lateral position.

[0015] Preferably, a moment analysis is performed on the vehicle body to obtain an analysis result, and a difference between the analysis result and the simulation result, a loading force of each of the vertical actuators, and a loading force of each of the lateral actuators are calculated, including:

[0016] Constructing an equivalent equation with the same vehicle body force as in the simulation model;

[0017] Solving the equivalent equation to obtain the loading force of each of the vertical actuators and the loading force of each of the lateral actuators;

[0018] The difference between the analysis result and the simulation result is calculated based on the loading force of the lateral actuator and the loading force of the vertical actuator.

[0019] Preferably, an equivalent equation is constructed according to the decoupling principle of the maglev train, including:

[0020] Constructing a lateral force equivalent equation, wherein the lateral force is the force exerted by the M lateral actuators on the left side or the right side of the vehicle body;

[0021] Constructing an equivalent equation for lift, wherein the lift is the force of N vertical actuators acting on the bottom of the vehicle body;

[0022] According to the combined position, an equivalent equation of overturning moment, an equivalent equation of nodding moment and an equivalent equation of shaking moment are constructed.

[0023] Preferably, solving the equivalent equation to obtain the loading force of each of the vertical actuators and the loading force of each of the lateral actuators includes:

[0024] The equivalent equation is solved using the least square method to obtain the loading force of each vertical actuator and the loading force of each lateral actuator.

[0025] Preferably, the M lateral actuators are arranged at the same height.

[0026] Preferably, the distance between each two adjacent lateral actuators is not less than a first preset distance, and the distance between each two adjacent vertical actuators is not less than a second preset distance.

[0027] In order to solve the above technical problems, the present invention also provides an actuator position optimization system, which is applied to a vibration test bench, wherein the vibration test bench includes a vehicle body, N vertical actuators and M lateral actuators, wherein the N vertical actuators are arranged at the bottom of the vehicle body, and the M lateral actuators are arranged on the left side or the right side of the vehicle body, N≥4, M≥2, and M and N are both integers; the system includes:

[0028] A position selection unit, used for preselecting vertical positions of a plurality of vertical actuators and lateral positions of a plurality of lateral actuators that meet preset conditions based on the structure of the vehicle body, N being less than the number of the vertical positions, and M being less than the number of the lateral positions;

[0029] A position combination unit, used for sequentially selecting and combining N of the vertical positions and M of the lateral positions to obtain a plurality of combined positions, and setting the N vertical actuators and the M lateral actuators at positions corresponding to the combined positions;

[0030] A control unit, used for controlling the actions of the N vertical actuators and the M lateral actuators according to the simulation results of the simulation model;

[0031] a calculation unit, configured to perform a moment analysis on the vehicle body, obtain an analysis result, and calculate a difference between the analysis result and the simulation result, a loading force of each of the vertical actuators, and a loading force of each of the lateral actuators;

[0032] An optimal position selection unit, used for selecting an optimal position among a plurality of combined positions according to the difference, the uniformity between the loading forces of the N vertical actuators, and the uniformity between the loading forces of the M lateral actuators;

[0033] The uniformity between the loading forces of the N vertical actuators is negatively correlated with the maximum value of the difference in loading forces between every two vertical actuators, and the uniformity between the loading forces of the M lateral actuators is negatively correlated with the maximum value of the difference in loading forces between two lateral actuators.

[0034] In order to solve the above technical problems, the present invention further provides an actuator position optimization device, comprising:

[0035] Memory for storing computer programs;

[0036] A processor is used to implement the steps of the actuator position optimization method described above when executing the computer program.

[0037] In order to solve the above technical problems, the present invention also provides a vibration test bench, comprising the above-mentioned actuator position optimization device and vehicle body, N vertical actuators and M lateral actuators, the N vertical actuators are arranged at the bottom of the vehicle body, the M lateral actuators are all arranged on the left side or the right side of the vehicle body, N≥4, M≥2, and M and N are both integers.

[0038] The present application provides an actuator position optimization method, system, device and vibration test bench. In this scheme, all vertical positions and all lateral positions that meet preset conditions are first combined to obtain multiple combined positions, and N vertical actuators and M lateral actuators are set at corresponding positions in the combined positions. A test is performed on each combined position. According to the loading force and analysis results of each actuator calculated in each test and compared with the simulation results, a combined position in which the loading force of the M lateral actuators is relatively uniform, the loading force of the N vertical actuators is relatively uniform, and the difference between the analysis result and the simulation structure is small can be selected as the optimal position, and it is set correspondingly at the optimal position. While ensuring the accuracy of the test, since the loading force is relatively uniform, it can be avoided that the loading force of a certain actuator is too large to cause deformation or damage to the vehicle body, thereby ensuring the safety and reliability of the test.

[0039] The present application also provides an actuator position optimization system, device and vibration test bench, which have the same beneficial effects as the actuator position optimization method described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1A schematic flow chart of an actuator position optimization method provided by the present invention;

[0042] Figure 2 A first force analysis schematic diagram provided by the present invention;

[0043] Figure 3 A second force analysis schematic diagram provided by the present invention;

[0044] Figure 4 A third force analysis schematic diagram provided by the present invention;

[0045] Figure 5 A fourth force analysis schematic diagram provided by the present invention;

[0046] Figure 6 A structural block diagram of an actuator position optimization system provided by the present invention;

[0047] Figure 7 This is a structural block diagram of an actuator position optimization device provided by the present invention. DETAILED DESCRIPTION

[0048] The core of the present invention is to provide an actuator position optimization method, system, device and vibration test bench, which can select a combined position where the loading force of M lateral actuators is relatively uniform, the loading force of N vertical actuators is relatively uniform, and the difference between the analysis result and the simulation structure is small as the optimal position, and set it accordingly at the optimal position. While ensuring the accuracy of the test, since the loading force is relatively uniform, it can avoid deformation or damage to the vehicle body due to excessive loading force of a certain actuator, thereby ensuring the safety and reliability of the test.

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Please refer to Figure 1 , Figure 1 A flow chart of an actuator position optimization method provided by the present invention is applied to a vibration test bench, the vibration test bench comprising a vehicle body, N vertical actuators and M lateral actuators, the N vertical actuators are arranged at the bottom of the vehicle body, the M lateral actuators are arranged on the left side or the right side of the vehicle body, N≥4, M≥2, and M and N are both integers; the method comprises:

[0051] S11: preselecting a plurality of vertical positions of vertical actuators and a plurality of lateral positions of lateral actuators that meet preset conditions based on the structure of the vehicle body, where N is less than the number of vertical positions, and M is less than the number of lateral positions;

[0052] Specifically, considering the structural problems of the vehicle body itself, not all parts of the vehicle body can bear the loading force of the actuator. When some structures are subjected to large forces, the vehicle body itself will be deformed or even damaged. For example, directly acting on the surface without protective structures is likely to cause damage to the vehicle body. Such positions are not suitable as lateral positions or vertical positions. Therefore, the bearing capacity of the vertical position and lateral position selected in this application should be relatively large.

[0053] As a preferred embodiment, vertical positions of a plurality of vertical actuators and lateral positions of a plurality of lateral actuators that meet preset conditions are pre-selected based on the structure of the vehicle body, including:

[0054] The position at the bottom of the vehicle body where the bearing capacity is greater than the first preset bearing capacity is taken as the vertical position;

[0055] The position on the left side or right side of the vehicle body where the load-bearing capacity is greater than the second preset load-bearing capacity is taken as the lateral position.

[0056] Specifically, it is possible but not limited to selecting a position at the bottom of the vehicle body with a bearing capacity greater than a first preset bearing capacity as the vertical position, and selecting a position on the left or right side of the vehicle body with a bearing capacity greater than a second preset bearing capacity as the lateral position.

[0057] In this step, multiple vertical positions and multiple lateral positions are first selected, so that a combination of N vertical positions and M lateral positions can be selected as the optimal position. Then, based on the optimal position, the position of the actuator in the vibration test bench is simulated to improve the authenticity and reliability of the vibration test bench's simulation of the maglev train.

[0058] The first preset bearing capacity and the second preset bearing capacity may be simulation data obtained by the simulation model according to the structure of an actual suspension train or the structure of an actual vehicle body.

[0059] It should be noted that the vertical position in the present application can be but is not limited to the crossbeam position at the bottom of the vehicle body, because the crossbeam position has a larger bearing capacity. In addition, the lateral actuator in the present application acts on the left or right side of the vehicle body to simulate the lateral wind during the driving of the maglev train, and the vertical actuator acts on the bottom of the vehicle body to simulate the electromagnetic force of the maglev train during the driving process.

[0060] S12: sequentially selecting N vertical positions and M lateral positions for combination to obtain a plurality of combined positions, and setting the N vertical actuators and the M lateral actuators at positions corresponding to the combined positions;

[0061] This step aims to select N vertical positions and M horizontal positions, and combine them to obtain multiple combined positions, and then set the position of the actuator in sequence according to these combined positions, so as to subsequently verify whether this combined position is the optimal position.

[0062] For example, assuming that 5 vertical positions and 5 lateral positions are selected according to the vehicle body structure, and assuming that there are 4 vertical actuators and 4 lateral actuators, there are 5 choices for the 4 vertical positions, 5 choices for the 4 lateral positions, and 25 combinations of the 4 lateral positions and the 4 vertical positions. That is, these 25 positions are subsequently verified in turn to verify whether they are the optimal position combination.

[0063] S13: controlling the movements of the N vertical actuators and the M lateral actuators according to the simulation results of the simulation model;

[0064] Specifically, when verifying each of the above-mentioned combined positions, each lateral actuator and each vertical actuator must first be controlled to act. Specifically, the method of controlling their actions is: acting based on the simulation results of the simulation model. For example, the simulation results obtained by the simulation model in the software are: how much force is required for the vertical direction of the vehicle body, how much force is required for the lateral direction of the vehicle body, and at this time, it is necessary to control how each vertical actuator acts to simulate the vertical force and lateral force on the vehicle body in the simulation. Then, the actuator is controlled based on this simulation result.

[0065] S14: performing moment analysis on the vehicle body, obtaining analysis results, and calculating the difference between the analysis results and the simulation results, the loading force of each vertical actuator, and the loading force of each lateral actuator;

[0066] After controlling the actions of all actuators, a torque analysis is performed on the vehicle body that has been subjected to the test process. For example, a torque analysis is performed on a certain point of the vehicle body, and then the difference between the analysis result and the simulation result is compared (wherein, the smaller the difference, the more realistic the simulation of the test, otherwise, the authenticity is poor). Furthermore, when performing a torque analysis on the vehicle body, the loading force of each actuator is calculated (specifically, the actual loading force on the vehicle body during the test).

[0067] S15: selecting an optimal position among the multiple combined positions according to the difference, the uniformity between the loading forces of the N vertical actuators, and the uniformity between the loading forces of the M lateral actuators;

[0068] The uniformity between the loading forces of the N vertical actuators is negatively correlated with the maximum value of the difference in loading forces between every two vertical actuators, and the uniformity between the loading forces of the M lateral actuators is negatively correlated with the maximum value of the difference in loading forces between two lateral actuators.

[0069] After the above calculations are made, the optimal position is selected according to the calculation results. The reason why the above selection of the optimal position is not only based on the difference between the analysis results and the simulation results, but also based on the uniformity of the loading force of the vertical actuator and the uniformity of the loading force of the lateral actuator to select the left and right positions is to avoid the situation where the loading force of one of the vertical actuators or the lateral actuators is too large or the loading force of one of the loading forces is too small, resulting in uneven force on the vehicle body, thereby causing deformation or damage to the vehicle body. That is, the above uniformity represents whether the loading force provided by each actuator is uniform.

[0070] In summary, through the optimization method in the present application, a combination position in which the loading forces of the M lateral actuators are relatively uniform, the loading forces of the N vertical actuators are relatively uniform, and the difference between the analysis results and the simulation structure is small can be selected as the optimal position, and it is set accordingly at the optimal position. While ensuring the accuracy of the test, since the loading force is relatively uniform, it can avoid deformation or damage to the vehicle body due to excessive loading force of a certain actuator, thereby ensuring the safety and reliability of the test.

[0071] Based on the above embodiments:

[0072] As a preferred embodiment, a moment analysis is performed on the vehicle body to obtain an analysis result, and the difference between the analysis result and the simulation result, the loading force of each vertical actuator and the loading force of each lateral actuator are calculated, including:

[0073] Construct equivalent equations with the same vehicle body forces as in the simulation model;

[0074] Solving the equivalent equations to obtain the loading force of each vertical actuator and the loading force of each lateral actuator;

[0075] The difference between the analysis results and the simulation results is calculated based on the loading force of the lateral actuator and the loading force of the vertical actuator.

[0076] This embodiment aims to provide a specific implementation method for performing moment analysis on a vehicle body and solving various loading forces. Specifically, a force analysis can be performed based on the results of a simulation of the vehicle body in a simulation model, wherein the force analysis of the vehicle body in the simulation should be equivalent to the force analysis of the vehicle body on a vibration test bench in theory. Therefore, in this application, an equivalent equation is constructed based on the force state of the vehicle body in the simulation model, and then the equivalent equation is solved to obtain various loading forces and the difference between the analysis result and the simulation result.

[0077] As a preferred embodiment, according to the equivalent equation of the vehicle body subjected to the same force in the construction and simulation model, it includes:

[0078] Construct the equivalent equation of lateral force, where the lateral force is the force exerted by M lateral actuators on the left or right side of the vehicle body;

[0079] Construct the equivalent equation of lift, where the lift is N vertical actuators as the force with the bottom of the vehicle body;

[0080] The equivalent equations of overturning moment, nodding moment and shaking moment are constructed according to the combined position.

[0081] As a preferred embodiment, M lateral actuators are arranged at the same height.

[0082] Since the lateral actuator simulates the lateral wind force, and in actual operation, the lateral wind force acts relatively evenly on one side of the vehicle body, therefore, in this application, in order to make the movement of the vehicle body relatively uniform as much as possible, the M lateral actuators in this application are set at the same height of the vehicle body.

[0083] Please refer to Figure 2 , Figure 3 , Figure 4 and Figure 5 ,in, Figure 2 The first force analysis schematic diagram provided by the present invention is: Figure 3 The second force analysis schematic diagram provided by the present invention is: Figure 4 The third force analysis schematic diagram provided by the present invention is: Figure 5 This is a fourth force analysis schematic diagram provided by the present invention.

[0084] Specifically, assuming that M and N are both 4, and the four lateral actuators are located at the same height, and the four points at the positions of the four vertical actuators can form a rectangle (that is, the first vertical actuator and the second vertical actuator are in the same vertical plane, the first vertical actuator and the third vertical actuator are in the same vertical plane, and the two vertical planes are relatively vertical in space), the specific implementation method of constructing the equivalent method can be:

[0085] (1) Construct the lateral force equivalent equation (to simulate the lateral wind force on the maglev train during its travel). The lateral actuators simulating the lateral wind force are initially arranged along the same side of the vehicle body (e.g. Figure 2 ), from which the equivalent formula of lateral force can be obtained:

[0086] Fy1+Fy2+Fy3+Fy4=Fy (1)

[0087] Among them, Fyi,i=1, 2, 3, 4 are the loading forces corresponding to the four lateral actuators respectively, and Fy is the lateral force in the simulation results corresponding to the simulation model (in this equation, Fy is a known number).

[0088] (2) Constructing the lift equivalent equation (used to simulate the electromagnetic force on the maglev train during its travel), the four vertical actuators simulating lift are initially arranged with two vertical actuators on each side of the vehicle body (e.g. Figure 2 ), from which the equivalent formula of lift can be obtained:

[0089] Fz1+Fz2+Fz3+Fz4=Fz (2)

[0090] Wherein, Fzi,i=1, 2, 3, 4 are the loading forces corresponding to the four vertical actuators respectively, and Fz is the lift in the simulation results corresponding to the simulation model (in this equation, Fz is a known number);

[0091] (3) Construct the equivalent equation of overturning moment:

[0092] Assuming that all lateral actuators are arranged on the same side of the vehicle body and at the same height, the parameters related to the overturning moment provided by the lateral actuator are shown in Figure 3 As shown in (where Fz(1,2) represents the vertical plane where the first vertical actuator and the second vertical actuator are located, Fz(3,4) represents the vertical plane where the third vertical actuator and the fourth vertical actuator are located, and Fy(1,2,3,4) represents the horizontal plane where the third vertical actuator and the fourth vertical actuator are located), the equivalent equation of the corresponding overturning moment is:

[0093] Fy*H+(Fz1+Fz2)*L1+(Fz3+Fz4)*L2=Mx (3)

[0094] Among them, when constructing the equivalent equation of overturning moment, you need to first select a numerical simulation moment point, which can be any point on the vehicle body. At this time, H is the distance between the horizontal plane where the point is located and the horizontal plane where all lateral actuators are located, L1 is the distance between the vertical plane where the point is located and the vertical plane where the first vertical actuator and the second vertical actuator are located, L2 is the distance between the vertical plane where the point is located and the vertical plane where the third vertical actuator and the fourth vertical actuator are located, and Mx is the overturning moment received by the point in the simulation result corresponding to the simulation model (in this equation, Mx is a known number).

[0095] (4) Construct the equivalent equation of nodding torque:

[0096] The parameters related to the nodding torque provided by each actuator are shown in Figure 4 As shown, (wherein Fz(1,3) represents the vertical plane where the first vertical actuator and the third vertical actuator are located, and Fz(2,4) represents the vertical plane where the second vertical actuator and the fourth vertical actuator are located).

[0097] The equivalent equation of the nodding torque is:

[0098] (Fz1+Fz3)*S1+(Fz2+Fz4)*S2=My (4)

[0099] On the basis of the torque point taken in the above numerical simulation: S1 is the distance between the vertical plane where the point is located and the vertical plane where the first vertical actuator and the third vertical actuator are located, S2 is the distance between the vertical plane where the point is located and the vertical plane where the second vertical actuator and the fourth vertical actuator are located, and My is the nodding torque received by the point in the simulation result corresponding to the simulation model (in this equation, My is a known number).

[0100] (5) Equivalent equation of shaking moment:

[0101] The parameters related to the shaking torque provided by the actuator are shown in Figure 5 shown.

[0102] The equivalent equation of the nodding torque is:

[0103] Fy1*J1+Fy2*J2+Fy3*J3+Fy4*J4=Mz (5)

[0104] On the basis of the torque points taken in the above numerical simulation: J1 is the distance between the vertical plane where the point is located and the vertical plane where the first lateral actuator is located, J2 is the distance between the vertical plane where the point is located and the vertical plane where the second vertical actuator is located, J3 is the distance between the vertical plane where the point is located and the vertical plane where the third lateral actuator is located, J4 is the distance between the vertical plane where the point is located and the vertical plane where the fourth vertical actuator is located, and Mz is the shaking moment received by the point in the simulation results corresponding to the simulation model (in this equation, Mz is a known number).

[0105] Then, the above five equivalent equations are solved to obtain eight unknowns, namely Fy1~Fy4 and Fz1~Fz4.

[0106] As a preferred embodiment, the equivalent equation is solved to obtain the loading force of each vertical actuator and the loading force of each lateral actuator, including:

[0107] The equivalent equations are solved using the least squares method to obtain the loading force of each vertical actuator and the loading force of each lateral actuator.

[0108] It can be seen from the above equations and conditions that the eight unknown quantities cannot be solved according to the five equivalent equations, and the loading force between every four lateral actuators or four vertical actuators must be relatively uniform, that is, the difference in loading force between actuators in the same direction cannot be too large, so as to avoid damage to the vehicle structure.

[0109] Therefore, the least squares method is used to couple and optimize the unknown parameters of the actuator and the mechanical load of the actuator, determine the key parameter values ​​that characterize the position of each actuator in the above formula, and obtain the loading force of each actuator.

[0110] Specifically, for different combination positions, when the least squares method is used to calculate the loading force of each actuator, it is found that when the layout position is specific (when a certain combination position is selected), that is, under a certain S1\S2\J1\J2\J3\J4 value, the range of variation of the actuating force of each actuator is small, and the rate of change over time is not large. This means that S1\S2\J1\J2\J3\J4 at this time is optimal, and the corresponding combination position is the optimal position.

[0111] As a preferred embodiment, the distance between every two adjacent lateral actuators is not less than a first preset distance, and the distance between every two adjacent vertical actuators is not less than a second preset distance.

[0112] Furthermore, the present application considers that when the distance between the actuators is too close, the loading force of the actuators will be concentrated in the same area, which may easily cause damage to the vehicle body structure. Therefore, the present application stipulates that the positions between every two adjacent actuators in the same direction need to maintain a certain distance, which can be the first preset distance and the second preset distance defined above. Using this method as a constraint condition of the optimization method can also reduce the number of the above-mentioned combined positions, thereby reducing the number of equivalent equations to be constructed and solved, and simplifying the steps of the optimization method.

[0113] Please refer to Figure 6 , Figure 6The present invention provides a structural block diagram of an actuator position optimization system, which is applied to a vibration test bench, the vibration test bench comprising a vehicle body, N vertical actuators and M lateral actuators, the N vertical actuators are arranged at the bottom of the vehicle body, the M lateral actuators are arranged on the left side or the right side of the vehicle body, N≥4, M≥2, and M and N are both integers; the system comprises:

[0114] A position selection unit 61 is used to preselect vertical positions of a plurality of vertical actuators and lateral positions of a plurality of lateral actuators that meet preset conditions based on the structure of the vehicle body, where N is less than the number of vertical positions and M is less than the number of lateral positions;

[0115] The position combination unit 62 is used to select N vertical positions and M lateral positions in sequence and combine them to obtain a plurality of combined positions, and to set the N vertical actuators and the M lateral actuators at positions corresponding to the combined positions;

[0116] A control unit 63, used to control the actions of the N vertical actuators and the M lateral actuators according to the simulation results of the simulation model;

[0117] A calculation unit 64 is used to perform moment analysis on the vehicle body, obtain analysis results, and calculate the difference between the analysis results and the simulation results, the loading force of each vertical actuator, and the loading force of each lateral actuator;

[0118] An optimal position selection unit 65, used to select an optimal position among the multiple combined positions according to the difference, the uniformity between the loading forces of the N vertical actuators and the uniformity between the loading forces of the M lateral actuators;

[0119] The uniformity between the loading forces of the N vertical actuators is negatively correlated with the maximum value of the difference in loading forces between every two vertical actuators, and the uniformity between the loading forces of the M lateral actuators is negatively correlated with the maximum value of the difference in loading forces between two lateral actuators.

[0120] In order to solve the above technical problems, the present application also provides an actuator position optimization system. For the introduction of the actuator position optimization system, please refer to the above embodiment, and the present application will not go into details here.

[0121] Please refer to Figure 7 , Figure 7 A structural block diagram of an actuator position optimization device provided by the present invention, the device comprising:

[0122] A memory 71, used for storing computer programs;

[0123] The processor 72 is used to implement the steps of the above-mentioned actuator position optimization method when executing the computer program.

[0124] In order to solve the above technical problems, the present application also provides an actuator position optimization device. For the introduction of the actuator position optimization device, please refer to the above embodiment, and the present application will not go into details here.

[0125] In order to solve the above technical problems, the present invention also provides a vibration test bench, comprising the above-mentioned actuator position optimization device and vehicle body, N vertical actuators and M lateral actuators, the N vertical actuators are arranged at the bottom of the vehicle body, and the M lateral actuators are all arranged on the left side or the right side of the vehicle body, N≥4, M≥2, and M and N are both integers.

[0126] For the introduction of the vibration test bench, please refer to the above embodiment, and this application will not go into details here.

[0127] It should be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0128] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0129] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for optimizing the position of an actuator, It is characterized in that Applied to a vibration test bench, the vibration test bench comprises a vehicle body, N vertical actuators and M lateral actuators, the N vertical actuators are arranged at the bottom of the vehicle body, the M lateral actuators are arranged on the left side or the right side of the vehicle body, N≥4, M≥2, and M and N are both integers; the method comprises: Preselecting a plurality of vertical positions of vertical actuators and a plurality of lateral positions of lateral actuators that meet preset conditions based on the structure of the vehicle body, wherein N is less than the number of the vertical positions, and M is less than the number of the lateral positions; Sequentially selecting N of the vertical positions and M of the lateral positions for combination to obtain a plurality of combined positions, and setting the N vertical actuators and the M lateral actuators at positions corresponding to the combined positions; Controlling the actions of the N vertical actuators and the M lateral actuators according to the simulation results of the simulation model; Performing a moment analysis on the vehicle body to obtain an analysis result, and calculating a difference between the analysis result and the simulation result, a loading force of each of the vertical actuators, and a loading force of each of the lateral actuators; Selecting the best position among the multiple combined positions according to the difference, the uniformity between the loading forces of the N vertical actuators, and the uniformity between the loading forces of the M lateral actuators; The uniformity between the loading forces of the N vertical actuators is negatively correlated with the maximum value of the difference in loading forces between every two vertical actuators, and the uniformity between the loading forces of the M lateral actuators is negatively correlated with the maximum value of the difference in loading forces between two lateral actuators.

2. The actuator position optimization method according to claim 1, It is characterized in that Based on the structure of the vehicle body, vertical positions of a plurality of vertical actuators and lateral positions of a plurality of lateral actuators that meet preset conditions are preselected, including: The position at the bottom of the vehicle body where the bearing capacity is greater than the first preset bearing capacity is used as the vertical position; The position on the left side or right side of the vehicle body where the bearing capacity is greater than the second preset bearing capacity is used as the lateral position.

3. The actuator position optimization method according to claim 1, It is characterized in that Performing moment analysis on the vehicle body to obtain analysis results, and calculating the difference between the analysis results and the simulation results, the loading force of each of the vertical actuators, and the loading force of each of the lateral actuators, including: Constructing an equivalent equation with the same vehicle body force as in the simulation model; Solving the equivalent equation to obtain the loading force of each of the vertical actuators and the loading force of each of the lateral actuators; The difference between the analysis result and the simulation result is calculated based on the loading force of the lateral actuator and the loading force of the vertical actuator.

4. The actuator position optimization method according to claim 3, It is characterized in that According to the decoupling principle of maglev train, the equivalent equation is constructed, including: Constructing a lateral force equivalent equation, wherein the lateral force is the force exerted by the M lateral actuators on the left side or the right side of the vehicle body; Constructing an equivalent equation for lift, wherein the lift is the force of N vertical actuators acting on the bottom of the vehicle body; According to the combined position, an equivalent equation of overturning moment, an equivalent equation of nodding moment and an equivalent equation of shaking moment are constructed.

5. The actuator position optimization method according to claim 4, It is characterized in that Solving the equivalent equation to obtain the loading force of each vertical actuator and the loading force of each lateral actuator includes: The equivalent equation is solved using the least square method to obtain the loading force of each vertical actuator and the loading force of each lateral actuator.

6. The actuator position optimization method according to any one of claims 1 to 5, It is characterized in that The M lateral actuators are arranged at the same height.

7. The actuator position optimization method according to any one of claims 1 to 5, It is characterized in that The distance between each two adjacent lateral actuators is not less than a first preset distance, and the distance between each two adjacent vertical actuators is not less than a second preset distance.

8. An actuator position optimization system, It is characterized in that Applicable to a vibration test bench, the vibration test bench comprises a vehicle body, N vertical actuators and M lateral actuators, the N vertical actuators are arranged at the bottom of the vehicle body, the M lateral actuators are arranged on the left side or the right side of the vehicle body, N≥4, M≥2, and M and N are both integers; the system comprises: A position selection unit, used for preselecting vertical positions of a plurality of vertical actuators and lateral positions of a plurality of lateral actuators that meet preset conditions based on the structure of the vehicle body, N being less than the number of the vertical positions, and M being less than the number of the lateral positions; A position combination unit, used for sequentially selecting and combining N of the vertical positions and M of the lateral positions to obtain a plurality of combined positions, and setting the N vertical actuators and the M lateral actuators at positions corresponding to the combined positions; A control unit, used for controlling the actions of the N vertical actuators and the M lateral actuators according to the simulation results of the simulation model; a calculation unit, configured to perform a moment analysis on the vehicle body, obtain an analysis result, and calculate a difference between the analysis result and the simulation result, a loading force of each of the vertical actuators, and a loading force of each of the lateral actuators; An optimal position selection unit, used for selecting an optimal position among a plurality of combined positions according to the difference, the uniformity between the loading forces of the N vertical actuators, and the uniformity between the loading forces of the M lateral actuators; The uniformity between the loading forces of the N vertical actuators is negatively correlated with the maximum value of the difference in loading forces between every two vertical actuators, and the uniformity between the loading forces of the M lateral actuators is negatively correlated with the maximum value of the difference in loading forces between two lateral actuators.

9. An actuator position optimization device, It is characterized in that include: Memory for storing computer programs; A processor is used to implement the steps of the actuator position optimization method as described in any one of claims 1 to 7 when executing the computer program.

10. A vibration test bench, It is characterized in that It comprises the actuator position optimization device and vehicle body as described in claim 9, N vertical actuators and M lateral actuators, the N vertical actuators are arranged at the bottom of the vehicle body, the M lateral actuators are arranged on the left side or the right side of the vehicle body, N≥4, M≥2, and M and N are both integers.

Images