关键词: 驾驶室, 运动学, 雅可比矩阵, 刚柔耦合多体动力学, 解耦控制, 虚拟迭代

Abstract: In order to improve the control accuracy of commercial vehicle cab multi-axle road simulation test bench and accurately reproduce the collected signals of road spectrum， a control strategy of multi-axle road virtual test bench was proposed based on kinematics and dynamics analysis. According to the principle of mechanisms， the structures of the test benches were described， the kinematics analysis and calculation were carried out. The closed-loop feedback degree of freedom decoupling was carried out by using the inverse pose solution algorithm and the forward solution algorithm with Jacobian matrix. The rigid-flexible coupling multi-body dynamics models of the cabs， part of the frames and the test benches were established by measuring the relevant parameters of the cabs and combining with ADAMS software. The Femfat-lab， MATLAB/Simulink and ADAMS software interfaces were established for adaptive co-simulation calculation to realize the decoupling control of freedom of the test bench. The multi-axis virtual test benches were combined with the internal response signals of the real vehicle tests， and the signals with high signal-to-noise were selected as the target signals for iterative analysis to obtain the equivalent displacement excitation of the real vehicle positions. The typical Belgian road load spectrums were selected as the input condition of the models to reproduce the real road spectrums combined with the road tests. The research results show that compared with the indoor road simulation test benches and the conventional virtual iteration results， the number of iterations of the cabs using the multi axis virtual test benches is significantly reduced， the change trend of the time domain and frequency domain response signals obtained is consistent with the target signal， and the root mean square value of the relative error of each channel is less than the set value， so the iteration accuracy is high. Furthermore， the feasibility of the method was verified， which provided a reliable load spectrum for the subsequent fatigue life prediction of the cabs. 

Key words: cab, kinematics, Jacobian matrix, rigid-flexible coupled multi-body dynamics, decoupling control, virtual iteration