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

摘要： 为了提高商用车驾驶室多轴道路模拟试验台的控制精度，精确复现路谱采集信号，提出了一种基于运动学与动力学分析的驾驶室多轴道路虚拟试验台控制策略。依据机构学原理描述了试验台的结构，并进行了运动学分析和计算，利用位姿反解算法及含雅可比矩阵正解算法进行了闭环反馈的自由度解耦。实测驾驶室相关参数并与ADAMS软件相结合建立了驾驶室、部分车架及试验台的刚柔耦合多体动力学模型，创建Femfat-lab、MATLAB/Simulink和ADAMS软件接口进行自适应联合仿真计算，实现了试验台的自由度解耦控制。将多轴虚拟试验台与实车试验内部响应信号相结合，选择信噪比较高的信号为目标信号进行迭代分析，获取实车位置等效位移激励。选取典型的比利时路面载荷谱作为模型输入条件，从而重现与道路试验相结合的真实路谱。研究结果表明，与室内道路模拟试验台架及常规虚拟迭代结果相比，驾驶室采用多轴虚拟试验台的迭代次数明显减少，得到的时域、频域响应信号与目标信号的变化趋势相吻合，且各通道相对误差均方根值（RMS）均小于设定值，迭代精度高，从而验证了所提方法的可行性，为后续驾驶室疲劳寿命预测提供了可靠的载荷谱。

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