【作者】 张昭英；

【导师】 陈建政；

【作者基本信息】 西南交通大学 ， 精密仪器及机械， 2012， 硕士

【摘要】 我国铁路建设高速发展、人民生活品质的提高和全社会人文意识的进步,使得我们对列车运行安全性及舒适性要求更高。转向架是机车车辆的关键部件,它应具备良好的曲线通过性、横向稳定性和运行平稳性。转向架的工作状态直接影响到列车运行的安全性,它的运行姿态直接影响列车的运行姿态。在不影响转向架运行的情况下,对转向架进行在线的运行轨迹检测,获取其运行姿态和位置信息,可同时结合轨道状态对列车运行品质进行评估,对保证列车高速运行时的安全性与平稳性有十分重要的意义。本论文研究应用于列车转向架的运动轨迹在线检测。主要工作包括以下几个方面：1.简要介绍列车转向架运行检测现状,通过对几种姿态检测方法的比较,选择使用广泛运用于航空及航海的捷联惯性导航技术来解算转向架的点头角、侧滚角、摇头角和位置信息。2.研究了捷联惯性导航技术的基本原理及算法,比较各姿态更新算法的优劣,确定检测系统算法的最终方案。3.分析检测系统的误差源,建立检测系统的卡尔曼滤波模型,并对初始对准姿态误差进行卡尔曼滤波仿真。4.检测系统软硬件设计,实现转向架三向角速率和加速度信号的数据采集、存储和解包。用MATLAB编写捷联惯性导航解算程序,导入采集的数据,提取出转向架姿态角和位置信息。5.检测系统在模拟试验车上安装和试验,得出解算结果并分析,通过试验,验证系统的可行性。更多还原

【Abstract】 With the development of railway construction in China, improving of people’s quality of life and progressing of the whole society humanistic consciousness,we had a higer requriement for trains’ runnirg safty and comfort.Bogie is the key component of a vehicle.It should have good lateral stability, smooth running and curve passing.Bogie’s working state directly affects the vehicle’s running safty.its running attitude affects the vehicle’s running attitude. Online detecting the bogie’s trajectory without affecting the bogie’s running,acquiring its attitude and position,to be combined with track’s state.that can evaluate the vehicle’s operation quality.And it is very important for ensuring the safty and stability for high-speed running vehicles.This paper has studied the online detecting system for train bogie’s trajectory. The main work has been described in details as follows:1.After introduced present condition of train bogie detection in brief,by comparing several kinds of attitude detecting methods,strapdown inertial navigation technology was chosen which is widely used for aviation and marine to calculate the bogie’s nodding angle,roll angle,yaw angle and position informations;2.Principles and algorithms of strapdown inertial navigation technology were studied. The final solution of detection system was determined with the compartment between the advantages and disadvantages of those attitude updating algorithms.3.The detection system’s error sources was analysed and its Kalman filtering model was established. Kalman filtering of the initial aligning attitude error was simulated.4. The detection system’s hardware and software were designed.The bogie’s three-dimensional angular rate and acceleration signal were acquired. The data’s storage and unpacking were realized. MATLAB was used for coding strapdown inertial navigation solution procedure.The bogie’s attitude and position information were extracted by importing the collected data to the procedure.5.The detection system was installed and tested on the simulation test train.The caiculational results were realized and analysed. The feasibility of the system was verified through the test.更多还原