Vehicle and track motion attitude simulation test bench and test method thereof

Abstract

The invention discloses a vehicle and track motion attitude simulation test bench and a test method thereof, belongs to the technical field of track traffic infrastructure detection, and aims to solve the problem that dynamic calibration and test means and methods of railway infrastructure detection equipment are lacked in the prior art. The vehicle and track motion attitude simulation test bench comprises a vehicle attitude simulation module, a track attitude simulation module, a synchronous driving module and a calibration module. According to the vehicle, the track motion attitude simulation test bench and the test method thereof, the actual line working condition can be simulated, and the track attitude simulation which can be realized can comprise line shape simulation and track geometric working condition simulation; the vehicle attitude simulation can comprise attitude changes such as transverse, vertical, side rolling, head shaking, nodding and the like of a bogie and a vehicle body in the vehicle advancing process, and the test requirements of various extreme working conditions of detection equipment carried on the test bed are met; and the detection equipment can be dynamically calibrated.

Description

Technical Field

[0001] The invention relates to the technical field of rail transit infrastructure detection, in particular to a vehicle and track motion posture simulation test bench, and also to a test method for the vehicle and track motion posture simulation test bench. Background Art

[0002] The railway infrastructure dynamic detection system is an important equipment to ensure the safety of railway operations. It is carried or installed on various positions of the detection vehicle for a long time to detect the infrastructure. Affected by the complex movement of the vehicle, there are inconsistent detection data when it is carried on different vehicles. Therefore, the detection system needs to be tested and calibrated under dynamic conditions to ensure the accuracy and consistency of the system measurement. The existing technology mainly uses two solutions: laboratory and line to verify the measurement capability of the infrastructure dynamic detection system. The laboratory mainly uses traditional measurement methods to perform static calibration on the detection system. Although it provides accurate values, the calibration results cannot reflect the measurement capabilities under real working conditions; on the line, the dynamic system is carried on the vehicle for testing. Although this solution ensures the real test environment of the detection system, it cannot provide a stable and reliable true value for the dynamic detection system because the line infrastructure is affected by various factors such as the environment, and it is impossible to evaluate the accuracy of the test results. Summary of the invention

[0003] In order to solve the problem of lack of dynamic calibration and testing means and methods for railway infrastructure detection equipment in the prior art, an embodiment of the present invention provides a vehicle and track motion posture simulation test bench and a test method thereof, which can more realistically simulate the vehicle and track motion state under actual working conditions, and provide stable and reliable dynamic values ​​for the dynamic detection system.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A vehicle and track motion posture simulation test bench, comprising: a vehicle posture simulation module and a track posture simulation module;

[0006] The track attitude simulation module includes a left rail test block, a right rail test block and a track attitude simulation unit; the left rail test block and the right rail test block are respectively arranged on the left and right sides of the track attitude simulation unit; the track attitude simulation unit has six degrees of freedom;

[0007] The vehicle posture simulation module includes a vehicle body simulation unit, a vehicle body posture drive unit, a bogie simulation unit and a bogie posture drive unit which are sequentially connected from top to bottom; a first detection device can be installed on the bogie simulation unit, and the first detection device can detect a left rail test block and a right rail test block; the vehicle body posture drive unit and the bogie posture drive unit both have degrees of freedom in six directions.

[0008] A test method for the above-mentioned vehicle and track motion posture simulation test bench comprises the following steps:

[0009] The motion posture information and road information of the vehicle to be simulated at different mileage positions are collected and obtained; wherein the motion posture information of the vehicle to be simulated includes the motion posture information of the bogie of the vehicle to be simulated and the motion posture information of the vehicle body; the motion posture information of the bogie of the vehicle to be simulated contains the lateral displacement, vertical displacement, roll angle, yaw angle and pitch angle of the geometric center of the bogie of the vehicle to be simulated relative to the center line of the track; the motion posture information of the vehicle body contains the lateral displacement, vertical displacement, roll angle, yaw angle and pitch angle of the geometric center of the vehicle body relative to the center line of the track; the road information includes the line shape information and track geometry irregularity information measured by the track geometry detection equipment;

[0010] Inputting the motion posture information of the vehicle bogie to be simulated into the bogie posture driving unit, driving the bogie simulation unit to move, and realizing vehicle bogie posture simulation;

[0011] Inputting the motion posture information of the vehicle body into the vehicle body posture driving unit to drive the vehicle body simulation unit to move, thereby realizing vehicle body posture simulation;

[0012] The road information is decoupled; the line shape information at different mileage positions is decoupled into the rolling offset motion information and the shaking motion information of the track attitude simulation unit over time, and the information is input into the track attitude simulation unit; the track geometric unevenness information is decoupled into the lateral and vertical continuous displacement change information of the left rail test block and the right rail test block over time, and the continuous displacement change information is input into the track attitude simulation unit to drive the left rail test block and the right rail test block to continuously move lateral and vertically over time.

[0013] The beneficial effects of the present invention are:

[0014] 1. Can simulate actual line conditions:

[0015] The synchronous drive module of the test bench can coordinately control the motion posture of the vehicle posture simulation module and the track posture simulation module, and synchronously simulate the spatial posture changes of the track and vehicle under actual working conditions. The track posture simulation may include line shape simulation (straight line, curve) and track geometry condition simulation (height, track direction, gauge, superelevation, triangular pit). The vehicle posture simulation may include the posture changes of the bogie and the vehicle body during the vehicle's movement, including lateral, vertical, rolling, shaking head, nodding and other motion postures.

[0016] 2. Can simulate extreme working conditions:

[0017] Each motion unit of the test bench has a large motion range, high vibration frequency, and multiple degrees of freedom of motion. Therefore, it can simulate extreme working conditions such as large track geometry irregularities and high-frequency vibrations of vehicles in a unidirectional or multi-directional combination, meeting the testing requirements of various extreme working conditions of the measuring equipment mounted on the test bench.

[0018] 3. Dynamic calibration of measuring equipment can be performed:

[0019] It can collect in real time the various types of tracks and vehicle posture conditions formed by the coordinated movement of the vehicle posture simulation module and the track posture simulation module, provide dynamic standard values ​​for the detection equipment mounted thereon, calculate the difference between the measured value of the detection equipment and the dynamic standard value, and dynamically calibrate the detection equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. 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. In the drawings:

[0021] Figure 1 It is a structural block diagram of the vehicle and track motion posture simulation test bench in an embodiment of the present invention.

[0022] Figure 2 It is a specific structural diagram of the vehicle and track motion posture simulation test bench in an embodiment of the present invention.

[0023] Figure 3 It is a specific structural diagram of the vehicle posture simulation module in an embodiment of the present invention.

[0024] Figure 4 It is a specific structural diagram of the orbit attitude simulation module in an embodiment of the present invention.

[0025] Description of reference numerals:

[0026] 1. Car body simulation unit; 2. Car body attitude drive unit; 3. Bogie simulation unit; 4. Bogie attitude drive unit; 5. Track geometry detection system; 6. Left rail test block; 7. Left rail displacement drive unit; 8. Right rail test block; 9. Right rail displacement drive unit; 10. Track attitude simulation unit; 11. Ground foundation. DETAILED DESCRIPTION

[0027] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0028] As mentioned above, the motion posture of the high-speed comprehensive detection train frame is one of the main factors affecting the measurement accuracy of the infrastructure detection equipment, and there is little analysis of the motion posture of the detection train frame. The dynamic detection equipment of railway infrastructure is an important instrument and equipment for identifying rail transit infrastructure faults and ensuring the safety of railway operations. In view of the increase in the operating speed of rail transit vehicles and the requirements for line maintenance and repair, the accuracy and consistency requirements of rail transit infrastructure detection equipment are constantly increasing. The use of traditional static calibration and conventional metrology calibration schemes can no longer meet the quality control requirements of rail transit infrastructure dynamic detection equipment. The lack of dynamic calibration capabilities has become the main factor restricting the improvement of the accuracy of detection equipment. Based on this, a vehicle and track motion posture simulation test bench is provided in an embodiment of the present invention. The test bench can better realize the simulation of vehicle and track motion postures, and provide a good test environment for the test of detection equipment under actual working conditions. Through this test bench, the dynamic detection capability of railway infrastructure dynamic detection equipment under actual motion conditions can be studied. The test bench comprehensively considers the influence of vehicle bogie, vehicle body posture and track status on the operation of railway infrastructure dynamic detection equipment, and aims to simulate the actual detection conditions of railway infrastructure dynamic detection equipment. It can also perform dynamic calibration to obtain the measurement capability level of railway infrastructure dynamic detection equipment under different working conditions.

[0029] like Figures 1 to 4 As shown, a vehicle and track motion posture simulation test bench according to an embodiment of the present invention comprises: a vehicle posture simulation module and a track posture simulation module;

[0030] The track attitude simulation module includes a left rail test block 6, a right rail test block 8 and a track attitude simulation unit 10; the left rail test block 6 and the right rail test block 8 are respectively arranged on the left and right sides of the track attitude simulation unit 10; the track attitude simulation unit 10 has six degrees of freedom;

[0031] The vehicle posture simulation module includes a vehicle body simulation unit 1, a vehicle body posture drive unit 2, a bogie simulation unit 3 and a bogie posture drive unit 4 which are sequentially connected from top to bottom; a first detection device can be installed on the bogie simulation unit 3, and the first detection device can detect a left rail test block 6 and a right rail test block 8; the vehicle body posture drive unit 2 and the bogie posture drive unit 4 both have degrees of freedom in six directions.

[0032] The vehicle body posture driving unit 2 can drive the vehicle body simulation unit 1 to move to simulate the vehicle body movement; the bogie posture driving unit 4 can drive the bogie simulation unit 3 to move to simulate the bogie simulation unit movement; the vehicle body posture driving unit 2 and the bogie posture driving unit 4 both have six degrees of freedom in the lateral, vertical, longitudinal, roll, head shake, and pitch direction; the left rail test block 6 and the right rail test block 8 are respectively arranged on the track posture simulation unit 10 to simulate the track, and the track posture simulation unit 10 can drive the left rail test block 6 and the right rail test block 8 to move to simulate the track posture movement. The track posture simulation unit 10 has six degrees of freedom in the lateral, vertical, longitudinal, roll, head shake, and pitch direction.

[0033] The vehicle body posture drive unit 2, the bogie posture drive unit 4 and the track posture simulation unit 10 all contain a six-degree-of-freedom motion platform and a control system. The six-degree-of-freedom motion platform can adopt an existing high-precision six-degree-of-freedom motion platform. The six-degree-of-freedom motion platform contains a top bracket, a telescopic rod and a bottom bracket connected in sequence from top to bottom. The vehicle and track motion posture simulation test bench also includes the synchronous drive module, which can synchronously control the movement of the vehicle posture simulation module and the track posture simulation module, that is, control the synchronous movement of the vehicle posture simulation module and the track posture simulation module.

[0034] The vehicle and track motion posture simulation test bench of the embodiment of the present invention can be used for dynamic testing and calibration of railway infrastructure dynamic detection equipment, that is, the above-mentioned first detection equipment can be an existing railway infrastructure dynamic detection equipment. Its simulated working conditions are suitable for dynamic testing of detection equipment carried on high-speed trains, conventional trains and professional detection trains, including vibration and posture changes of vehicle bogies and car bodies under actual working conditions, changes in the geometric unevenness of the track, etc., to support the development and reliability verification of railway infrastructure dynamic detection equipment. Compared with the prior art, the test bench can realize the working condition simulation of the vehicle and track status during the dynamic detection of railway infrastructure, so that the railway infrastructure detection equipment such as track geometry and vehicle dynamic response can be dynamically tested and calibrated under actual working conditions, shortening the equipment development process and improving the dynamic measurement stability of the detection equipment.

[0035] The synchronous drive module of the test bench can coordinately control the motion posture of the vehicle posture simulation module and the track posture simulation module, synchronously simulate the spatial posture changes of the track and the vehicle under actual working conditions, and realize the synchronous simulation of vehicle postures, road trajectories, and line geometric defects with different mileage information. The body posture drive unit 2, the bogie posture drive unit 4, and the track posture simulation unit 10 all have degrees of freedom in six directions: lateral, vertical, longitudinal, roll, shake, and pitch, so that the track posture simulation that the test bench can achieve may include line line shape simulation (straight line, curve) and track geometric working condition simulation (height, track direction, gauge, superelevation, triangular pit); the vehicle posture simulation may include the posture changes of the bogie and the car body during the vehicle's travel, including lateral, vertical, roll, shake, nod and other motion postures. It can provide a test basis for the status assessment of the infrastructure detection equipment of the high-speed comprehensive detection train and the improvement of the measurement capability of the detection equipment.

[0036] The test bench provided in the embodiment of the present invention is installed on a ground foundation 11 (which may be a concrete foundation). The track detection state includes the line state during the operation detection process of the detection equipment and the motion posture of the detection equipment. The line state mainly includes the line shape of the track and the unevenness of the track geometry. Its manifestation in the spatial domain is the lateral and vertical unevenness of the left and right rails along the extension direction of the track and the change of the track inclination. In the time domain, it is manifested as the lateral and vertical displacement changes of the left and right rails over time (detection speed), as well as the angle change of the track plane.

[0037] In one embodiment, the vehicle body simulation unit 1 is roughly in the shape of a rectangular plate, and the vehicle body simulation unit 1 is provided with a mounting groove, a mounting fixture, and a second mounting hole capable of mounting a second detection device; the bogie simulation unit 3 is provided with a first mounting hole capable of mounting a first detection device. The vehicle body simulation unit 1 can be installed with the second detection device as required, and the bogie simulation unit 3 can be installed with the first detection device as required, and the first detection device includes an existing track geometry detection system 5. The track attitude simulation unit 10 is located in front of or behind the bogie attitude drive unit 4, and the track geometry detection system 5 is installed at the front end and the rear end of the bogie simulation unit 3.

[0038] The test bench provided in the embodiment of the present invention tests a railway infrastructure dynamic detection equipment. Figure 2 The track geometry detection system 5 is one of the railway infrastructure dynamic detection equipment that can be tested by the test bench. In the actual test process, the track geometry detection system 5 is fixed on the bogie simulation unit 3, and is rigidly connected to the bogie simulation unit 3 by bolts, and realizes vibration and posture changes driven by the bogie simulation unit 3. The test bench can provide a dynamic test and calibration environment for the track geometry detection system 5 carried.

[0039] In one embodiment, the installation position of the track geometry detection system 5 on the test bench is the same as its installation position on the actual vehicle. The test bench test of other railway infrastructure detection equipment can select the installation position on the test bench according to actual application.

[0040] like Figures 2 to 4 As shown, in one embodiment, the center of the bottom surface of the car body simulation unit 1 is rigidly connected to the car body posture driving unit 2; the vibration and posture of the car body are simulated by the movement of the car body posture driving unit 2; the car body simulation unit 1 is provided with various mounting holes for convenient railway infrastructure detection equipment to carry out test experiments on it; the center of the bottom surface of the car body posture driving unit 2 is rigidly connected to the center of the top surface of the bogie simulation unit 3; the bottom surface of the car body posture driving unit 2 moves with the posture of the bogie simulation unit 3; the bogie simulation unit 3 is provided with various mounting holes for convenient railway infrastructure detection equipment to carry out test experiments on it; the center of the bottom surface of the bogie simulation unit 3 is rigidly connected to the bogie posture driving unit 4; the vibration and posture of the bogie are simulated by the movement of the bogie posture driving unit 4. The car body posture driving unit 2 and the bogie posture driving unit 4 both have six degrees of freedom in the lateral, vertical, longitudinal, roll, head shake, and pitch directions, which are used to simulate the lateral and vertical movements of the vehicle, as well as the vehicle inclination angle caused by the line road shape.

[0041] The test bench is used to simulate the motion posture of the detection system. The key is to simultaneously control the different displacements of the actuators in each direction to make the test bench where the detection system is installed reach the expected spatial position. The actual motion posture of the detection system is measured by multiple sensors installed on the bogie simulation unit 3 and the car body simulation unit 1, including the vertical displacement, lateral displacement, roll angle, head tilt angle, and pitch angle of the geometric center of the bogie simulation unit 3 and the car body simulation unit 1. Since the actual vehicle frame (bogie) and car body posture data are all based on the earth as the reference system, the car body simulation unit 1 and the bogie simulation unit 3 are installed in a stacked manner, and the movement of the bogie simulation unit 3 will drive the car body simulation unit 1 to run at the same time, which is equivalent to superimposing the movement of the bogie simulation unit 3 on the car body simulation unit 1. When performing posture simulation on the test bench, it is necessary to eliminate the influence of the movement of the bogie simulation unit 3 on the car body posture simulation.

[0042] In order to eliminate the above-mentioned influences, the bogie simulation unit 3 will drive the vehicle body posture drive unit 2 to move along with it, and the six-degree-of-freedom anti-roll technology is adopted. When the upper surface of the bogie simulation unit 3 moves, the vehicle body posture drive unit 2 moves in the opposite direction, so as to realize the vehicle body posture drive unit 2 superimposed on the bogie simulation unit 3 to move relative to the earth reference.

[0043] The principle of the above six-degree-of-freedom anti-roll technology is to connect the vehicle body simulation unit 1 to the coordinate system S B =(O B XB Y B Z) is converted from a fixed coordinate system to a moving coordinate system. The moving coordinate system S of the bogie simulation unit 3 A =(O A X A Y A Z), as the input of the vehicle simulation unit 1, namely S B The coordinate transformation matrix corresponding to the posture in the coordinate system is T rb .

[0044] Assume that the vehicle simulation unit 1 is S B =(O B X B Y B The posture in the Z coordinate system is P = (p1, p2, p3, p4, p5, p6), and the initial posture B of the bogie simulation unit 3 is i Go to motion pose P i The movement process is completed by rotation and translation around the X, Y, and Z axes. The primitive rotation matrix corresponding to the rotation around the X, Y, and Z axes is R X (P4), R Y (P5), P Z (P6):

[0045]

[0046] The coordinate transformation matrix corresponding to continuous rotation is:

[0047] R rb =R X (p4)R Y (p5)R z (p6)

[0048] In order to integrate the translation motion into the coordinate transformation matrix for calculation, the coordinate rotation matrix R rb From 3D to 4D, the specific expansion method is as follows:

[0049]

[0050] The lower platform of the vehicle simulation unit 1 is turned to the ground posture, and the left-hand passenger conversion matrix T is required on the basis of the original fixed platform rb ,Right now:

[0051] P×B i =T rb ×B i

[0052] By adopting the above-mentioned anti-roll technology principle, when the upper surface of the bogie simulation unit 3 moves, the vehicle body posture driving unit 2 moves in the opposite direction, so that the vehicle body posture driving unit 2 superimposed on the bogie simulation unit 3 moves relative to the earth reference. In this way, when the vehicle body posture driving unit 2 moves, the lower surface of the vehicle body posture driving unit 2 operates in the opposite posture, offsetting the movement influence of the bogie simulation unit 3, and converting the lower surface of the vehicle body posture driving unit 2 into a posture relative to the ground.

[0053] In a further embodiment, the track attitude simulation unit 10 comprises a six-degree-of-freedom motion platform, a left rail displacement drive unit 7, a right rail displacement drive unit 9 and a control system. The control system can control the six-degree-of-freedom motion platform, the left rail displacement drive unit 7 and the right rail displacement drive unit 9. The left rail displacement drive unit 7 and the right rail displacement drive unit 9 are both mounted and fixed on the top bracket of the six-degree-of-freedom motion platform.

[0054] The left rail test block 6 is installed and fixed on the six-degree-of-freedom motion platform of the track attitude simulation unit 10 through the left test block seat and the left rail displacement drive unit 7 in turn, and the right rail test block 8 is installed and fixed on the six-degree-of-freedom motion platform of the track attitude simulation unit 10 through the right test block seat and the right rail displacement drive unit 9 in turn. The left rail displacement drive unit 7 can drive the left rail test block 6 to move accurately laterally and vertically (i.e., up, down, left, and right) to the desired position, and the right rail displacement drive unit 9 can drive the right rail test block 8 to move accurately laterally and vertically (i.e., up, down, left, and right) to the desired position.

[0055] like Figure 4 As shown, the left rail displacement drive unit 7 and the right rail displacement drive unit 9 can both adopt existing electric cross guide rails. The left rail displacement drive unit 7 drives the left rail test block 6 to move horizontally and vertically over time, and the right rail displacement drive unit 9 drives the right rail test block 8 to move horizontally and vertically over time to simulate the geometric unevenness of the line track.

[0056] The six-degree-of-freedom motion platform of the track attitude simulation unit 10 has six degrees of freedom in the horizontal, vertical, longitudinal, rolling, shaking and pitching directions, driving the left rail test block 6 and the right rail test block 8 to perform rolling, shaking and other movements over time to realize the simulation of straight and curved railway line shapes.

[0057] In a further embodiment, there is a certain positional relationship between the left rail test block 6 and the right rail test block 8. When the vehicle and track motion posture simulation test bench is at zero position, the left rail test block 6 and the right rail test block 8 are at the same horizontal height, forming a standard track gauge. For example, the track gauge formed by the left rail test block 6 and the right rail test block 8 should be the standard track gauge of 1435 mm.

[0058] Each motion unit of the test bench in the embodiment of the present invention has a large range of motion, and the vibration acceleration of the test bench is large, for example, the maximum can reach 6g, so it can simulate extreme working conditions such as large values ​​of track geometric unevenness defects and high-frequency vibration of vehicles, and meet the testing requirements of various extreme working conditions of the dynamic measurement equipment mounted on the test bench.

[0059] In one embodiment, when the vehicle and track motion attitude simulation test bench simulates the track attitude, if the line shape is a curve, the track attitude simulation unit 10 will shake and roll over time, wherein the shaking angle changes with time to simulate the change of the line curve radius at different mileage positions, and the roll angle changes with time to simulate the change of the outer rail superelevation at different mileage positions of the curve. When simulating the track attitude, if the line shape is a straight line, the movement angle of the track attitude simulation unit 10 is zero.

[0060] The vehicle and track motion posture simulation test bench also includes a calibration module, which includes a dynamic data acquisition unit and a data analysis unit. The dynamic data acquisition unit can collect dynamic standard values ​​formed by the movement of the vehicle and track motion posture simulation test bench under preset working conditions, and the data analysis unit is used to calculate the difference between the actual measured value of the dynamic data acquisition unit and the dynamic standard value.

[0061] The embodiment of the present invention also provides a test method for the above-mentioned vehicle and track motion posture simulation test bench, and the test method includes:

[0062] The motion posture information and road information of the vehicle to be simulated at different mileage positions are collected and obtained; the motion posture information of the vehicle to be simulated includes the motion posture information of the bogie of the vehicle to be simulated and the motion posture information of the vehicle body (to be simulated); the motion posture information of the bogie of the vehicle to be simulated contains the lateral displacement, vertical displacement, roll angle, yaw angle and pitch angle of the geometric center of the bogie of the vehicle to be simulated relative to the center line of the track; the motion posture information of the vehicle body (to be simulated) contains the lateral displacement, vertical displacement, roll angle, yaw angle and pitch angle of the geometric center of the vehicle body (to be simulated) relative to the center line of the track; the road information includes the line shape information and track geometry irregularity information measured by the track geometry detection equipment;

[0063] The motion posture information of the bogie of the vehicle to be simulated is input into the control system of the bogie posture drive unit 4, and the control system drives the six-degree-of-freedom motion platform of the bogie posture drive unit 4 according to the motion posture information of the bogie of the vehicle to be simulated, and the six-degree-of-freedom motion platform of the bogie posture drive unit 4 drives the bogie simulation unit 3 to move, so as to realize the vehicle bogie posture simulation;

[0064] The motion posture information of the vehicle body is input into the control system of the vehicle body posture driving unit 2, and the control system drives the six-degree-of-freedom motion platform of the vehicle body posture driving unit 2 according to the motion posture information of the vehicle body, and the six-degree-of-freedom motion platform of the vehicle body posture driving unit 2 drives the vehicle body simulation unit 1 to move, so as to realize the vehicle body posture simulation;

[0065] Decouple the road information; decouple the line route information at different mileage positions into the rolling offset motion information and the shaking motion information of the track attitude simulation unit 10 over time, input the rolling offset motion information and the shaking motion information into the control system of the track attitude simulation unit 10, and the control system controls the action of the six-degree-of-freedom motion platform according to the rolling offset motion information and the shaking motion information, and drives the left rail test block 6 and the right rail test block 8 to move offset and shake over time; decouple the track geometric unevenness information into the lateral and vertical continuous displacement change information of the left rail test block 6 and the right rail test block 8 over time, and input the continuous displacement change information into the control system of the track attitude simulation unit 10, and the control system controls the action of the left rail displacement drive unit 7 and the right rail displacement drive unit 9 according to the continuous displacement change information, and drives the left rail test block 6 and the right rail test block 8 to move continuously laterally and vertically over time.

[0066] In one embodiment, the test method of the vehicle and track motion posture simulation test bench also includes: generating reverse motion posture information of the vehicle bogie to be simulated; superimposing the motion posture information of the vehicle body and the reverse motion posture information of the vehicle bogie to be simulated and inputting them into the control system of the vehicle body posture drive unit 2, the control system drives the six-degree-of-freedom motion platform of the vehicle body posture drive unit 2 according to the superimposed motion posture information of the vehicle body, and the six-degree-of-freedom motion platform of the vehicle body posture drive unit 2 drives the vehicle simulation unit 1 to move, thereby realizing vehicle body posture simulation.

[0067] In one embodiment, when the line shape corresponding to the line shape information is a straight line, the motion angle of the six-degree-of-freedom motion platform of the track attitude simulation unit 10 is 0 and does not change; when the line shape corresponding to the line shape information is a curve, the six-degree-of-freedom motion platform of the track attitude simulation unit 10 shakes and rolls over time, and the shaking angle changes with time to simulate the change of the line curve radius at different mileage positions, and the roll angle changes with time to simulate the change of the outer rail superelevation at different mileage positions of the curve. In addition, the lateral and vertical relative movement of the left rail test block 6 and the right rail test block 8 over time can form a simulated track gauge, track direction, and triangular pit.

[0068] In one embodiment, the test method may further include: real-time acquisition of dynamic standard values ​​formed by the vehicle posture simulation module and the track posture simulation module under preset working conditions, calculating the difference between the actual measured value and the dynamic standard value, and dynamically calibrating the first detection equipment and the second detection equipment. The equipment used for acquisition may be, for example, a laser interferometer and a grating ruler.

[0069] The following is a specific example of the test method of the vehicle and track motion posture simulation test bench, wherein the first detection equipment is a track geometry detection system 5.

[0070] Step 1: put the test bench in zero position, install the track geometry detection system 5 on the bogie simulation unit 3, and the distance between the top surfaces of the left rail test block 6 and the right rail test block 8 meets the installation position requirements on the actual vehicle;

[0071] Step 2, input the test bench control data for vehicle motion posture simulation to the vehicle posture simulation module, and the body posture drive unit 2 and the bogie posture drive unit 4 drive the track geometry detection system 5 to move, simulating the vibration and posture change of the track geometry detection system 5 under the actual vehicle operation conditions; input the test bench control data for track motion posture simulation to the track posture simulation module, and the left rail displacement drive unit 7, the right rail displacement drive unit 9 and the six-degree-of-freedom motion platform of the track posture simulation unit 10 drive the left rail test block 6 and the right rail test block 8 to move, simulating the track geometry state change at the current position of the vehicle operation;

[0072] The vehicle posture simulation module moves synchronously with the track posture simulation module. The movement of the vehicle posture simulation module provides a dynamic test environment for the track geometry detection system 5. The movement of the track posture simulation module over time drives the left rail test block 6 and the right rail test block 8 to form standard parameters of track geometry irregularity, providing dynamic standard data for the track geometry detection system 5. The track geometry detection system 5 mounted on the bogie simulation unit 3 measures the actual dynamic track geometry data, compares the measured value with the standard value, and realizes the dynamic calibration of the track geometry detection system 5.

[0073] According to the test requirements, the vehicle vibration data and track geometry data collected under actual line conditions such as straight lines and curves can be used as dynamic test and calibration conditions and input into the test bench to study the dynamic measurement capabilities of the detection equipment mounted on the vehicle under different line conditions.

[0074] In summary, the vehicle and track motion posture simulation test bench and the test method thereof according to the embodiment of the present invention have the following beneficial effects:

[0075] 1. Can simulate actual line conditions:

[0076] The synchronous drive module of the test bench can coordinately control the motion posture of the vehicle posture simulation module and the track posture simulation module, and synchronously simulate the spatial posture changes of the track and the vehicle under actual working conditions. The body posture drive unit, the bogie posture drive unit, and the track posture simulation unit all have six degrees of freedom in the lateral, vertical, longitudinal, roll, head shake, and pitch. The left rail displacement drive unit and the right rail displacement drive unit can drive the left rail test block and the right rail test block to move, so that the track posture simulation that the test bench can achieve can include line shape simulation (straight line, curve) and track geometry condition simulation (height, track direction, gauge, superelevation, triangular pit); vehicle posture simulation can include the posture changes of the bogie and the body during the vehicle's travel, including lateral, vertical, roll, head shake, nodding and other motion postures.

[0077] In a further embodiment, the bogie attitude drive unit is mounted on the bogie simulation unit, and the bottom is rigidly connected to the bogie simulation unit. The movement of the bogie simulation unit will drive the bogie attitude drive unit to move along, and the six-degree-of-freedom anti-roll technology is adopted. That is, when the upper surface of the bogie simulation unit moves, the bogie attitude drive unit moves in the opposite direction, thereby realizing the reference movement of the bogie attitude drive unit superimposed on the bogie simulation unit relative to the earth.

[0078] 2. Can simulate extreme working conditions:

[0079] Each motion unit of the test bench has a large motion range and the vibration acceleration of the test bench is large. Therefore, it can simulate extreme working conditions such as large track geometry irregularities and high-frequency vibrations of vehicles, meeting the testing requirements of various extreme working conditions of the measuring equipment mounted on the test bench.

[0080] 3. Dynamic calibration of measuring equipment can be performed:

[0081] It can collect in real time the various types of tracks and vehicle posture conditions formed by the coordinated movement of the vehicle posture simulation module and the track posture simulation module, provide dynamic standard values ​​for the detection equipment mounted thereon, calculate the difference between the measured value of the measuring equipment and the standard value, and dynamically calibrate the measuring equipment.

[0082] For ease of understanding and description, the following description of the present invention adopts absolute positional relationships for description. The present invention adopts the observation perspective of the reader or user for description, but the above-mentioned directional words cannot be understood or interpreted as limiting the scope of protection of the present invention. Regarding the parameters such as the size of the components, those skilled in the art can specifically determine them according to actual needs and limited experiments.

[0083] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0084] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0085] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0086] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0087] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vehicle and track motion posture simulation test bench, characterized in that: include: Vehicle attitude simulation module and track attitude simulation module; The track attitude simulation module comprises a left rail test block (6), a right rail test block (8) and a track attitude simulation unit (10); the left rail test block (6) and the right rail test block (8) are respectively arranged on the left and right sides of the track attitude simulation unit (10); the track attitude simulation unit (10) has six degrees of freedom; The vehicle posture simulation module comprises a vehicle body simulation unit (1), a vehicle body posture drive unit (2), a bogie simulation unit (3) and a bogie posture drive unit (4) which are connected in sequence from top to bottom; a first detection device can be installed on the bogie simulation unit (3), and the first detection device can detect a left rail test block (6) and a right rail test block (8); the vehicle body posture drive unit (2) and the bogie posture drive unit (4) both have six degrees of freedom in six directions.

2. The vehicle and track motion posture simulation test bench according to claim 1, characterized in that: The center of the bottom surface of the vehicle body simulation unit (1) is rigidly connected to the vehicle body posture driving unit (2), and the vehicle body posture driving unit (2) can drive the vehicle body simulation unit (1) to move; the center of the bottom surface of the vehicle body posture driving unit (2) is rigidly connected to the center of the top surface of the bogie simulation unit (3); the center of the bottom surface of the bogie simulation unit (3) is rigidly connected to the bogie posture driving unit (4), and the bogie posture driving unit (4) can drive the bogie simulation unit (3) to move; the track posture simulation unit (10) can drive the left rail test block (6) and the right rail test block (8) to move; the track posture simulation unit (10) is located in front of or behind the bogie posture driving unit (4); the vehicle body posture driving unit (2), the bogie posture driving unit (4) and the track posture simulation unit (10) all contain a six-degree-of-freedom motion platform.

3. The vehicle and track motion posture simulation test bench according to claim 2, characterized in that: When the bogie simulation unit (3) moves, it can drive the vehicle body posture driving unit (2) to move along with it. When the upper surface of the bogie simulation unit (3) moves, the vehicle body posture driving unit (2) can move in the opposite direction using a sway reduction method, so that the movement of the vehicle body simulation unit (1) is not affected by the movement of the bogie simulation unit (3).

4. The vehicle and track motion posture simulation test bench according to claim 1, characterized in that: The vehicle body simulation unit (1) is capable of installing a second detection device, wherein the first detection device comprises a track geometry detection system (5); the vehicle body simulation unit (1) is provided with a second mounting hole capable of installing the second detection device; and the bogie simulation unit (3) is provided with a first mounting hole capable of installing the first detection device.

5. The vehicle and track motion posture simulation test bench according to claim 1, characterized in that: The left rail test block (6) is fixedly mounted on the track attitude simulation unit (10) via a left rail displacement drive unit (7), and the right rail test block (8) is fixedly mounted on the track attitude simulation unit (10) via a right rail displacement drive unit (9). The left rail displacement drive unit (7) can drive the left rail test block (6) to perform lateral and vertical movements, and the right rail displacement drive unit (9) can drive the right rail test block (8) to perform lateral and vertical movements.

6. The vehicle and track motion posture simulation test bench according to claim 1, characterized in that: When the vehicle and track motion posture simulation test bench is at zero position, the left rail test block (6) and the right rail test block (8) are at the same horizontal height, forming a standard track gauge.

7. The vehicle and track motion posture simulation test bench according to claim 1, characterized in that: When simulating the track attitude, if the line shape is a curve, the track attitude simulation unit (10) will sway and roll over time, the sway angle changes with time to simulate the change of the line curve radius at different mileage positions, and the roll angle changes with time to simulate the change of the outer rail superelevation at different mileage positions of the curve; if the line shape is a straight line, the movement angle of the track attitude simulation unit (10) is zero.

8. The vehicle and track motion posture simulation test bench according to claim 1, characterized in that: The vehicle and track motion posture simulation test bench also includes a synchronous drive module, which is used to synchronously control the vehicle posture simulation module and the track posture simulation module to move over time.

9. The vehicle and track motion posture simulation test bench according to claim 1, characterized in that: The vehicle and track motion posture simulation test bench also includes a calibration module, which includes a dynamic data acquisition unit and a data analysis unit; The dynamic data acquisition unit can collect dynamic standard values ​​formed by the movement of the vehicle and track motion posture simulation test bench under preset working conditions, and the data analysis unit is used to calculate the difference between the actual measured value of the dynamic data acquisition unit and the dynamic standard value.

10. A test method for the vehicle and track motion posture simulation test bench according to claim 1, characterized in that: The following steps are involved: The motion posture information and road information of the vehicle to be simulated at different mileage positions are collected and obtained; wherein, the motion posture information of the vehicle to be simulated includes the motion posture information of the bogie of the vehicle to be simulated and the motion posture information of the vehicle body; the motion posture information of the bogie of the vehicle to be simulated contains the lateral displacement, vertical displacement, roll angle, yaw angle and pitch angle of the geometric center of the bogie of the vehicle to be simulated relative to the center line of the track; the motion posture information of the vehicle body contains the lateral displacement, vertical displacement, roll angle, yaw angle and pitch angle of the geometric center of the vehicle body relative to the center line of the track; the road information includes the line shape information and track geometry irregularity information measured by the track geometry detection equipment; Inputting the motion posture information of the vehicle bogie to be simulated into a bogie posture driving unit (4), driving the bogie simulation unit (3) to move, and realizing vehicle bogie posture simulation; Inputting the motion posture information of the vehicle body into a vehicle body posture driving unit (2) to drive the vehicle body simulation unit (1) to move, thereby realizing vehicle body posture simulation; The road information is decoupled; the line shape information at different mileage positions is decoupled into rolling offset motion information and head shaking motion information of a track attitude simulation unit (10) over time, and the information is input into the track attitude simulation unit (10); the track geometric unevenness information is decoupled into lateral and vertical continuous displacement change information of a left rail test block (6) and a right rail test block (8) over time, the continuous displacement change information is input into the track attitude simulation unit (10), and the left rail test block (6) and the right rail test block (8) are driven to continuously move lateral and vertically over time.

11. The test method of the vehicle and track motion posture simulation test bench as claimed in claim 10, characterized in that: The test method of the vehicle and track motion posture simulation test bench also includes: generating reverse motion posture information of the bogie of the vehicle to be simulated; superimposing the motion posture information of the vehicle body and the reverse motion posture information of the bogie of the vehicle to be simulated and inputting the superimposed information into a vehicle body posture drive unit (2).

12. The test method of the vehicle and track motion posture simulation test bench as claimed in claim 10, characterized in that: When the line shape corresponding to the line shape information is a straight line, the movement angle of the track attitude simulation unit (10) is 0 and does not change; when the line shape corresponding to the line shape information is a curve, the track attitude simulation unit (10) moves in a yaw and roll offset over time, the yaw angle changes over time to synchronously simulate the change of the line curve radius at different mileage positions, and the roll angle changes over time to simulate the change of the outer rail superelevation at different mileage positions of the curve.

13. The test method of the vehicle and track motion posture simulation test bench as claimed in claim 10, characterized in that: The test method of the vehicle and track motion posture simulation test bench also includes: The vehicle posture simulation module and the track posture simulation module collect the dynamic standard values ​​formed by the movement of the vehicle and the track motion posture simulation test bench under the preset working conditions in real time, calculate the difference between the actual measured value and the dynamic standard value, and dynamically calibrate the first detection equipment.

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