Following control method and system of train track and train

Abstract

The invention discloses a following control method of a train track. The following control method comprises the steps of S1 obtaining a measured value of a front axle steering angle of a first carriage of a train and a measured value of a rear axle steering angle of the first carriage; S2 calculating an input value of the rear axle steering angle of the first carriage; S3 controlling rear axle steering of the first carriage according to the input value; S4 collecting hinged angles of hinged points of current carriages to previous carriages by starting from a second carriage; S5 calculating an input value of a rear axle steering angle of the current carriage and an input value of a front axle steering angle of the current carriage; S6 controlling rear axle steering of the current carriage according to the input value of the rear axle steering angle of the current carriage, and controlling front axle steering of the current carriage according to the input value of the front axle steering angle of the current carriage; S7 repeating S3 to S5, so that the control over the rear axle steering and the front axle steering of each carriage of the train is completed. The following control method has the advantages that the same traveling track of the hinged points of the train and the position concerned by a driver can be effectively guaranteed, so that the safety of pedestrians and vehicles is not endangered by steering of the train.

Description

technical field [0001] The invention relates to the field of train control, in particular to a train track following control method, system and train. Background technique [0002] With the development of urban public transportation, the demand for public transportation capacity is also increasing day by day. The rubber-tyred trains articulated by multiple carriages can meet the demand for large power of urban public transportation and become a hot spot of development. However, since the train has multiple carriages and shares the right of way with other vehicles, during the operation of the train, it is necessary to pay high attention to the safety of the train, especially when the train is turning. At present, two trajectory following control methods based on axle control and hinge control have been published. The axle-based control method solves the problem that all axles run on the same trajectory, such as figure 1 As shown, the safety problem when the vehicle is turnin...

AI Technical Summary

Problems solved by technology

While in train operation, the train driver cannot see the position of the wheel, that is, the position of the center point of the axle, and the focus of his attention is only a local range in front of the driver, such as image 3 As shown, the driver generally focuses on point A directly in front of the train and the streamlined transition of the front of the train. The transition can be equivalent to point B on the central axis of the vehicle. However, when the train is turning, the position of the hinge point tends to move to the outside. It endangers the safety of pedestrians and other vehicles on the road. Therefore, it is of great significance to provide a trajectory following control method based on the driver's driving habits.

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