Track following control method used for rubber-wheel low-floor intelligent railway train

A track train and follow-up control technology, which is applied to the steering mechanism, automatic steering control components, vehicle components, etc. of front and rear tandem vehicles, and can solve the problems of inability to realize public transport quickly and efficiently, deterioration of traffic operating environment, and increase of lane area and other problems, to achieve the effect of low cost, small turning radius and good driving safety

Inactive Publication Date: 2016-02-03
CSR ZHUZHOU ELECTRIC LOCOMOTIVE RES INST
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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  • Track following control method used for rubber-wheel low-floor intelligent railway train
  • Track following control method used for rubber-wheel low-floor intelligent railway train
  • Track following control method used for rubber-wheel low-floor intelligent railway train

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Embodiment Construction

[0030] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0031] Such as figure 1 As shown, the track following control method for rubber-tyred low-floor intelligent rail trains 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 each wheel The wheels travel on the same trajectory. The specific steps are:

[0032] 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;

[0033] Before establishing the vehicle model, compared with the actual vehicle model, some assumptions are made here, which meet the following conditions:

[0034] 1) Ignoring the side slip angle between the tire and the road, that is, the direction of the wheel determines...

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Abstract

The invention discloses a track following control method used for a rubber-wheel low-floor intelligent railway train. In an advancing process of the rubber-wheel low-floor intelligent railway train, steering angles of all the wheels are calculated in real time, and a steering angle-driven steering system is controlled to steer in real time, so that all the wheels advance on the same track. The track following control method used for the rubber-wheel low-floor intelligent railway train has the advantages that the control is more accurate, the turning radius can be reduced and the travelling flexibility can be improved.

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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D12/02B62D6/00B62D137/00
Inventor 冯江华尚敬许峻峰张陈林肖磊丁杰朱明杰蒋小晴刘小聪朱田魏黎任田良
Owner CSR ZHUZHOU ELECTRIC LOCOMOTIVE RES INST
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