Multi-axle steering track follow closed-loop control method for rubber wheel low-floor intelligent rail train

A rail train, multi-axle steering technology, applied to the steering mechanism, steering mechanism, vehicle components and other directions of the front and rear tandem vehicles, which can solve the problems of increasing lane area, unable to pass smoothly, and increasing turning radius.

CN105292256AActive Publication Date: 2016-02-03CSR ZHUZHOU ELECTRIC LOCOMOTIVE RES INST
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2016-02-03

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Abstract

The invention discloses a multi-axle steering track follow closed-loop control method for a rubber wheel low-floor intelligent rail train. The multi-axle steering track follow closed-loop control method comprises the steps that firstly, according to a first wheel turn angle delta 1, input by a driver, of a first axle, the rotating angle of a second axle is controlled, and the track of the second axle is superposed with that of the first axle; secondly, the track of a third axle is made to be on the same circular arc with the traction of the second axle and the tract of the first axle to ensure superposition of the tracks by controlling an included angle phi of hinged points, wherein the hinged points are formed between two sections of carriages. The multi-axle steering track follow closed-loop control method has the advantages of being good in control effect, high in stability and the like.
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Description

technical field

[0001] The invention mainly relates to the field of urban public transportation equipment, in particular to a multi-axis steering track following closed-loop control method suitable for rubber-tyred low-floor intelligent rail trains, so as to realize the track following of each axis during the train's traveling process. 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....

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Embodiment Construction

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0039] The rubber-tired low-floor intelligent rail train has a body length of 35 meters. The whole vehicle can be divided into multiple compartments (such as three sections) and two locomotives. The entire vehicle can realize two-way travel. Each compartment includes at least one axle. The goal of the control method is to allow all axes of the entire train to achieve track following during the process of moving and turning.

[0040] like figure 1 As shown, the multi-axis steering track following closed-loop control method of the rubber-tired low-floor intelligent rail train of the present invention, the steps are:

[0041] S1: The first wheel rotation angle δ of the first axis according to the driver input 1 , to control the rotation angle of the second axis, so that the trajectory of the second axis coincides with the trajectory of...