低速磁浮列车防侧滚吊杆运动学研究

针对磁浮列车位于弯道时防侧滚吊杆运动学问题,以单转向架为研究对象,基于D-H变换建立转向架正向运动学方程。结合轨道弯道线型的特征参数,分析磁浮列车通过弯道时悬浮模块的相对位姿关系,通过求解运动学模型的逆解,计算当车辆通过弯道时防侧滚吊杆的运动情况。考虑磁浮列车在实际运行过程中间隙波动的问题,分析防侧滚吊杆满足解耦要求的运动学条件,最终为防侧滚吊杆的结构设计与改进提出建议,对低速磁浮列车防侧滚吊杆的分析和设计具有参考价值。

Kinematics Study on Anti-roll Boom of Low-speed Maglev Train

The single bogie of the maglev train was investigated to deal with the problem of decoupling of the anti-roll boom on a horizontal curve.The positive kinematics equations of the bogie were established on the basis of D-H conversion.The relative pose of the suspension module in curve negotiation was analyzed.The inverse solution of the kinematics model was deduced.The movements of the anti-roll boom in curve negotiation were calculated.Taking into consideration gap fluctuations,the kinematic decoupling requirements were analyzed.Suggestions were made for structure design and improvement of the anti-roll boom,which were of valuable reference.