Route tracking control method for full-trailer train
A tracking control and route technology, which is applied in the field of route tracking control of full-mounted trains, can solve the problems of increased vehicle operation difficulty and decreased vehicle flexibility, and achieves the goal of improving one-way transportation efficiency, improving controllability and reducing operation difficulty. Effect
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[0023] The route tracking control method of the fully-mounted train proposed by the present invention, its flow chart as shown in 1, can be used for the wheel angle control of each sub-car front axle of the fully-mounted multi-articulated vehicle, comprising the following steps:
[0024] (1) Set a global coordinate system of the route to be tracked, and judge the route to be tracked. If the X-axis coordinate value of the route to be tracked in the global coordinate system is monotonically increasing, the controllers of each sub-carriage of the fully-mounted train Switch to the route tracking control state, proceed to step (2), if the X-axis coordinate value of the route to be tracked in the global coordinate system is non-monotone increasing, then divide the route to be tracked into a plurality of local routes, and establish a relationship with each local route The corresponding local coordinate system makes the X-axis coordinate value of each local route to be tracked in the c...
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