Train trajectory following control method and system and train

Abstract

The invention discloses a train trajectory following control method, comprising: S1, acquiring a measured value of the front axle steering angle of a first carriage and a measured value of the 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 the rear axle of the first carriage to steer according tothe input value; S4, collecting and acquiring a hinge angle of a carriage and a front carriage by starting from the second carriage; S5, calculating a second angle and a first angle of the carriage,and calculating a steering angle input value of the rear axle of the carriage and a steering angle input value of the front axle of the carriage according to the second angle and the first angle; S6,controlling the rear axle and the front axle of the carriage to steer; and S7, repeating the steps S4 to S6 till completing steering control of the rear axles and the front axles of all the carriages.The method has the advantages of effectively ensuring that the hinge points of the train and the attention position of the driver travel on the same trajectory, and preventing the steering of the train from jeopardizing the safety of pedestrians and vehicles.

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 his focus is only on a local area 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 turns, the position of the hinge point tends to move to the outside, which will 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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