Pantograph Multiple Rigid-body Dynamics Model and Its VerificationBased on Relative Coordinate System

WANG Jiangwen; MEI Guiming; LI Ruiping; ZHANG Weihua

doi:10.13890/j.issn.1000-128x.2016.01.011

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Pantograph Multiple Rigid-body Dynamics Model and Its VerificationBased on Relative Coordinate System

更新时间：2021-12-13

- Pantograph Multiple Rigid-body Dynamics Model and Its VerificationBased on Relative Coordinate System
- Electric Drive for Locomotives Issue 1, Pages: 53-57(2016)
- 作者机构：
  
  1. 西南交通大学牵引动力国家重点实验室,四川,成都,610031
- 作者简介：
- 基金信息：
- DOI：10.13890/j.issn.1000-128x.2016.01.011
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WANG Jiangwen, MEI Guiming, LI Ruiping, et al. Pantograph Multiple Rigid-body Dynamics Model and Its VerificationBased on Relative Coordinate System. [J]. Electric Drive for Locomotives (1):53-57(2016)
DOI：

WANG Jiangwen, MEI Guiming, LI Ruiping, et al. Pantograph Multiple Rigid-body Dynamics Model and Its VerificationBased on Relative Coordinate System. [J]. Electric Drive for Locomotives (1):53-57(2016) DOI： 10.13890/j.issn.1000-128x.2016.01.011.

摘要

采用相对坐标系，应用R/W 方程建立受电弓框架的多刚体模型，推导出其运动微分方程和约束方程。基于拉格朗日乘子法和约束违约稳定原则，采用四阶龙格库塔法求解此运动微分方程。对受电弓静态（受重力作用）与动态（受简单正弦激扰）进行数值仿真，获得转角（矩）结果，与多体动力学软件Recurdyn 比较相差甚微，最大误差1.14%，验证了此模型的正确性。

Abstract

Pantograph frame multiple rigid-body dynamics model with R/W equation based on relative coordinate system was built,and the motion differential equations and constraint equations were derived. Based on Lagrangian Multiplier Method and constraintviolation stabilization method, the motion differential equations were resolved. Numerical simulation of pantograph static (with gravityaction) and dynamic (with simple sinusoidal interference) state was carried out, and the rotation angle and torque result was comparedwith multiple dynamics software Recurdyn. The max error 1.14% of the comparing results validated the accuracy of the built model.

关键词

受电弓相对坐标系微分方程多刚体动力学模型

Keywords

pantographrelative coordinate systemdifferential equationmultiple rigid-bodydynamics model

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