由于实测的车轮和钢轨型面（轮轨型面）基准坐标系会受到多种因素的干扰而与理论坐标系产生偏差，因此需要将实测的轮轨型面进行坐标变换，才能与标准坐标系对齐并对比分析。提出了将ICP算法应用于轮轨型面对齐的数据处理方法，并与传统的5种轮轨型面对齐方法进行了对比。分析表明，采用线对齐的ICP算法比传统方法效果更好，能更加准确的计算轮轨磨耗量。当测量基准坐标发生偏移和旋转时，传统方法将不再适用，而ICP算法仍然有效，可将此方法应用于轮轨型面的在线监测。
我国高速动车组在线路运营中，发生过1.0~2.5Hz范围内的车体晃动现象，这是因为在某些边界条件下，车体的悬挂模态与蛇行模态耦合发生一次蛇行，会对车辆性能产生很大的影响。通过建立经典的转向架和车辆横向动力学模型，研究了悬挂模态和蛇行模态的频率、阻尼比和振型，并对车辆悬挂模态和蛇行模态交叉耦合转换现象进行了分析。通过变参分析，研究了参数对车辆模态的影响规律。
本文的主要工作有：
（1）提出了适用于轮轨型面对齐的ICP算法，通过对比分析表明，采用线对齐方法优于传统的点对齐方法。
（2）建立了6自由度转向架横向模型，分析了特征值和特征向量与模态参数的关系，分别用振型速度追踪法和特征值速度追踪法研究了振型的连续性。
（3）从悬挂参数动态灵敏度分析和单变量分析法，对转向架的模态频率做了分析，发现一系定位刚度是最重要的影响因子。通过多元参数对转向架的模态分析发现，只有小定位刚度和小阻尼时，构架存在恢复性失稳振型，否则，只有轮对的两个永久失稳振型。
（4）建立了17自由度的车辆横向模型，分析了转向架蛇行振型和车体振型交叉耦合现象，发现在特定条件下车辆的悬挂模态与蛇行模态频率交叉时，两种振型会相互转换，而这种状态往往对应车辆的一次蛇行。通过变参分析，得到了参数对车体三个振型的影响规律。
 

As the measured wheel and rail surface (wheel-rail surface) reference coordinate system will be subject to a variety of factors and is different of the theoretical coordinate system, it is necessary to the measured wheel-rail surface coordinate transformation, with the standard coordinate system Alignment and contrast analysis. It is proposed to apply the method of ICP algorithm, and compared with the traditional five kinds of alignment methods. The analysis shows that the linear alignment of the ICP algorithm is better than the traditional method, can more accurately calculate the wheel and rail wear. When the measurement reference coordinates are shifted and rotated, the traditional method will no longer apply, and the ICP algorithm will still be effective, and this method can be applied to the on-line monitoring of the wheel-rail surface.
China's high-speed EMU in the line operation, the occurrence of 1.0 ~ 2.5Hz within the body of the phenomenon of rocking, which is because in some boundary conditions, the body of the suspension mode and the meandering mode coupled with a meandering, Vehicle performance has a great impact. The frequency, damping ratio and vibration mode of suspension mode and meandering mode are studied by establishing classical bogie and vehicle lateral dynamic model, and the phenomenon of cross coupling coupling of vehicle suspension mode and meandering mode is analyzed. The influence of parameters on vehicle mode is studied by parametric analysis.
Major jobs:
The ICP algorithm is applied to the alignment of the wheel and rail surface. The comparison shows that the method of line alignment is superior to the traditional point alignment method.
The relationship between the eigenvalues and the eigenvectors and the modal parameters is analyzed. The continuity of the modes is studied by means of velocity tracing and eigenvalue velocity tracing respectively.
Based on the dynamic sensitivity analysis and univariate analysis of suspension parameters, the modal frequency of the bogie is analyzed and it is found that the positioning stiffness is the most important influence factor. The modal analysis of the bogie through the multivariate parameters shows that there is only a steady state of the unsteady vibration when there is only a small positioning stiffness and a small damping. Otherwise, there are only two permanent failure modes.
A 17-DOF vehicle transverse model was established. The phenomenon of cross-coupling between the meandering mode and the body shape of the bogie was analyzed. It was found that under the specific conditions, when the suspension mode of the vehicle crossed the frequency of the meandering mode, the two modes Conversion, and this state often corresponds to the vehicle's a snake. Through the parametric analysis, the influence of the parameters on the three modes of the vehicle body is obtained.

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