Track following control method for rubber-wheeled low-floor intelligent rail trains
A technology for rail trains and low floors, which is applied to automatic steering control components, vehicle components, steering mechanisms, etc., can solve the problems of inability to quickly and efficiently realize bus transportation, deteriorate the traffic operating environment, and fail to pass smoothly, and achieve low cost. , The effect of small turning radius and good driving safety
Active Publication Date: 2017-09-15
CSR ZHUZHOU ELECTRIC LOCOMOTIVE RES INST
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Problems solved by technology
Although the passenger car of the articulated car train has a large passenger capacity, the biggest difference between it and the single passenger car is the change of the road passability caused by the lengthening of the body, which is specifically manifested in the increase of the turning radius and the increase of the lane area occupied by the turn. Large, it is easy to interfere with other elements of the road traffic next to it, so that it cannot pass smoothly, or even worsen the traffic operating environment, and it is impossible to realize public transportation quickly and efficiently
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[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0034] Such as figure 1 As shown, the track-following control method for the rubber-tyred low-floor intelligent rail train of the present invention is mainly applicable to articulated car trains, and it drives the steering system to turn by calculating the angle of rotation of each wheel in the process of vehicle travel to ensure that the first track of the train One axle and the center points of all hinge discs run on the same track. The specific steps are:
[0035] S1: Establish a vehicle model; reduce the static model of the articulated car train to a "single-wheel model", which can be called a bicycle-model;
[0036] Before establishing the vehicle model, compared with the actual vehicle model, some assumptions are made here, which meet the following conditions:
[0037] 1) Ignoring the side slip angle between the tire and the ...
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The invention discloses a trajectory following control method for a rubber-tyred low-floor intelligent rail train, which ensures that the first axle of the train and the center points of all hinge discs run on the same trajectory during the running process of the rubber-tyred low-floor intelligent rail train Above; real-time calculation of the rotation angle of each wheel in order to ensure that the train runs on the same track during the train, and real-time control of the rotation angle to drive the steering system. The invention has the advantages of more precise control, reduced turning radius, improved driving flexibility and the like.
Description
technical field [0001] The invention mainly relates to the field of urban public transport equipment, in particular to a train track following control method suitable for rubber-tyred low-floor intelligent rail trains. Background technique [0002] Urban rail transit refers to a special-line public transportation system with continuous guiding capabilities, which is characterized by having a specific track and vehicles running along the track. Common urban rail transit includes subways, light rails, and trams. Among them, subways and light rails are mostly built underground or on viaducts, and they can run freely in special rail lines by using the blocking mode. Although they have a strong transportation capacity, the initial infrastructure and vehicle purchase costs are relatively high, making them unavailable in small and medium-sized cities. application. Trams require a special power system and track coordination design, whether the design and construction costs or main...
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IPC IPC(8): B62D6/00B62D137/00
Inventor 冯江华尚敬许峻峰张陈林肖磊彭京丁杰蒋小晴刘小聪朱明杰曾云峰魏黎任田良蒋志东
Owner CSR ZHUZHOU ELECTRIC LOCOMOTIVE RES INST