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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

Active Publication Date: 2017-11-17
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

Increasing the length of a single carriage or increasing the number of carriages can increase the one-way transportation volume of the vehicle, but as the length of the vehicle increases, the flexibility of the vehicle decreases and the difficulty of vehicle operation increases

Method used

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  • Route tracking control method for full-trailer train
  • Route tracking control method for full-trailer train
  • Route tracking control method for full-trailer train

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Embodiment Construction

[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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Abstract

The invention relates to a route tracking control method for a full-trailer train and belongs to the technical field of urban public traffics. The method comprises the following steps of acquiring target route information, the information of each sub-carriage position of the train and the information of each sub-carriage azimuth angle of the train in real time, calculating a turning angle of front axle steering wheels of each sub-carriage, controlling the turning direction of the front axle wheels of the train through steering execution mechanisms of the corresponding sub-carriage, and realizing route tracking control of the train. Through the adoption of the method disclosed by the invention, route tracking of the full-trailer train in a multi-hinge connection manner can be realized, and the train movement flexibility is improved. According to the method disclosed by the invention, the number of carriages is not limited, so that the single-trip carrying capacity of the train can be effectively increased; and the method does not have special requirements for the outline dimension of the train, each sub-carriage of the train can be reasonably configured according to the actual needs, and improvement of the transportation efficiency of the train is facilitated.

Description

technical field [0001] The invention relates to a route tracking control method for a trailer train, which belongs to the technical field of urban public transportation. Background technique [0002] With the progress and development of human society, the number of people traveling short distances for work and life is also increasing. Solving traffic congestion and improving transportation efficiency are major problems faced by the public transportation system. [0003] The main public transportation systems in modern cities include subways, light rails, and buses. Subway and light rail are built underground and on viaduct respectively, which effectively utilizes the urban underground and upper space, and has a large one-way transportation volume and flexible marshalling, but the construction cost is relatively high. The construction of bus infrastructure is low in vehicle cost, but the one-way transportation volume is small, which cannot effectively solve the problem of ra...

Claims

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Application Information

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IPC IPC(8): B61L27/00B61L25/02
CPCB61L25/02B61L27/00
Inventor 李红王文军李克强
Owner TSINGHUA UNIV
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