The invention relates to a bridging type trackless
train which comprises a plurality of vehicles, a plurality of rotary supporting devices, a plurality of bridging
train bodies and a
steering control unit. Wherein the vehicle running at the first position is called as a
pilot vehicle, the other vehicles are called as following vehicles, and all the vehicles have a steering function; the front end and the rear end of the bridging vehicle body are installed between two adjacent vehicles through the rotary supporting devices respectively and can do yawing motion and pitching motion around the vehicles. The steering of the
pilot car is manually controlled; the steering of the following vehicle is controlled by the
steering control unit, so that each vehicle runs on the same track; the historical
turning angle of the steering shaft of the
pilot vehicle is recorded, the
turning angle is transmitted to the steering shaft of each following vehicle in a delayed mode according to the distance between each following vehicle and the pilot vehicle and serves as the feedforward
steering control quantity of each steering shaft, and the
feedback control quantity is calculated based on the track deviation between the front vehicle and the rear vehicle to obtain the feedback steering control quantity of each steering shaft. And steering control can be efficiently and accurately carried out on each following vehicle. On the basis of ingenious combination of the leading vehicle, the bridging vehicle body, the steerable following vehicle and other components and an innovative
train steering control method, train steering can be efficiently and accurately controlled, front and rear vehicles can be kept in the same track to automatically run in rows, the train motion characteristics and mechanical characteristics can be optimized, and the train steering control method is suitable for large-scale popularization and application. The sideslip and
rollover risks of the train are reduced, and safe and stable operation of the trackless train is effectively guaranteed.