Multifunctional steering control system of radial bogie

Abstract

The invention discloses a multifunctional steering control system of a radial bogie, which belongs to the technical field of bogies, and comprises a wheel set assembly body, a car type framework, an air spring swing bolster assembly body, a control system, a sensor system, a reset bogie, a first telescopic cylinder assembly body and a second telescopic cylinder assembly body, the two wheel set assemblies are arranged on the two sides of the lower portion of the car-shaped framework respectively, the air spring swing bolster assembly is arranged in the center of the car-shaped framework, the sensor system is arranged on the wheel set assemblies and the car-shaped framework, the first telescopic cylinder assembly is arranged on one side of the car-shaped framework, and the second telescopic cylinder assembly is arranged on the other side of the car-shaped framework. And the first telescopic cylinder assembly body and the second telescopic cylinder assembly body are arranged in a central symmetry mode and connected with the two wheel pair assembly bodies correspondingly, and the reset bogie is arranged above the car type framework and connected with the two wheel pair assembly bodies correspondingly. The running and steering performances of the train are favorably improved.

Description

Technical Field

[0001] The invention relates to the technical field of bogies, and in particular to a multifunctional steering control system of a radial bogie. Background Art

[0002] Traditional bogies play an important role in rail transit vehicles, but their limitations are gradually becoming apparent as vehicle operating speeds increase and line conditions become more complicated. In order to maintain fast-running stability, traditional bogies usually need to increase the horizontal connection stiffness between the wheelset and the side frame, but this limits the improvement of their curve passing performance. Specifically, when traditional bogies pass through curves, the angle of attack and lateral force between the wheelset and the rails are large, resulting in increased wheel-rail wear, which not only affects the operating efficiency of the vehicle, but also increases maintenance costs.

[0003] In order to solve the limitations of traditional bogies, radial bogies came into being. Through the action of radial mechanisms, radial bogies can reasonably distribute the lateral force between wheels and rails without reducing the longitudinal positioning stiffness of the axle box, effectively reducing wheel-rail wear, but the wear reduction effect is not obvious, and frequent manual inspection and adjustment are still required. In addition, the wear and failure rate under complex line conditions may be high, increasing maintenance costs. Based on this, the present invention designs a multifunctional steering control system for radial bogies to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a multifunctional steering control system for a radial bogie, which realizes multifunctional steering by using a control system to control the radial bogie, so that when the train passes through a curved track, its wheels can tend to the radial direction of the curve, and the axle rotates along the curve direction. The radial steering function of the train is realized with a reasonable layout and reliable structure, and a flexible open system is also used, which can realize a variety of steering modes through software programming, which is more conducive to improving the train driving and steering performance.

[0005] To achieve the above-mentioned purpose, the present invention provides a multifunctional steering control system for a radial bogie, comprising a wheelset assembly, a car-type frame, a gas spring bolster assembly, a control system, a sensor system, a reset bogie, a first telescopic cylinder assembly and a second telescopic cylinder assembly, wherein two wheelset assemblies are respectively arranged on both sides below the car-type frame, the gas spring bolster assembly is arranged at the center position of the car-type frame and the center position of the gas spring bolster assembly is sleeved on the outside of the center position of the car-type frame, the sensor system is arranged on the wheelset assembly and the car-type frame, the first telescopic cylinder assembly is arranged on one side of the car-type frame, the second telescopic cylinder assembly is arranged on the other side of the car-type frame, and the first telescopic cylinder assembly and the second telescopic cylinder assembly are arranged in a centrally symmetrical manner and are respectively connected to the two wheelset assemblies, and the reset bogie is arranged above the car-type frame and is respectively connected to the two wheelset assemblies.

[0006] Preferably, the wheelset assembly includes a wheelset, a braking device, a center pin bearing seat assembly, a guide bearing seat assembly, and a grounding brush housing assembly. The center pin bearing seat assembly is arranged on the lower side of the car-type frame and is fixed to the car-type frame by a center pin. One end of the wheelset is connected to the center pin bearing seat assembly, and the other end of the wheelset is connected to the guide bearing seat assembly. The guide bearing seat assembly is sleeved on the car-type frame, and a reset lever and a reset slider are arranged on the top. The grounding brush housing assembly is arranged on the inner side of one end of the wheelset close to the center pin bearing seat assembly, and the braking device is arranged on the inner side of one end of the wheelset close to the guide bearing seat assembly and is connected to the guide bearing seat assembly.

[0007] Preferably, the gas spring rocker assembly includes a gas spring turntable plate and a rotating column. The gas spring turntable plate has a "Bu"-shaped structure and is provided with three connecting shafts. The rotating column is arranged at the center of the gas spring turntable plate. Two gas springs are symmetrically arranged on both sides of the rotating column. The two sides of the gas spring turntable plate away from the rotating column are connected to two longitudinal force transmission rods through two connecting shafts, and the third connecting shaft of the gas spring turntable plate is connected to the frame through a transverse limit force transmission rod.

[0008] Preferably, the reset bogie includes two reset cylinders, one end of the two reset cylinders is respectively connected to two reset fixing seats, the two reset fixing seats are centrally symmetrically arranged on the car-type structure, the other ends of the two reset cylinders are respectively provided with reset hooks connected to the reset lever, and the outer side of the reset cylinder is provided with a reset tension spring.

[0009] Preferably, the sensor system includes two vehicle speed sensors arranged on the center pin bearing seat assembly of the wheelset assembly, a geographic location and track information receiver on the side of the car-type frame close to the first telescopic cylinder assembly and close to the vehicle speed sensor, a binocular vision sensor and ranging sensor assembly arranged on the car-type frame and close to one side of the wheelset, four binocular vision sensors and ranging sensor assemblies, and a rocker angle sensor arranged on the car-type frame below the center position of the gas spring turntable and connected to the gas spring turntable.

[0010] Preferably, the first telescopic cylinder assembly includes the first telescopic cylinder and a movable tail hinge seat connected to one side of the first telescopic cylinder, a slide rail is arranged inside the movable tail hinge seat, cam structures are arranged on both sides of the slide rail, a wedge actuator is arranged in the middle of each group of cam structures, the movable tail hinge seat is connected to the electromagnetic coil assembly, the electromagnetic coil assembly is connected to the locking mechanism, and the piston of the first telescopic cylinder is connected to the guide bearing seat assembly close to the first telescopic cylinder assembly.

[0011] Preferably, the second telescopic cylinder assembly comprises a second telescopic cylinder, and a piston of the second telescopic cylinder is connected to a guide bearing seat assembly close to the second telescopic cylinder assembly.

[0012] Preferably, the control system consists of a multi-sensor information fusion system, a radial bogie wheelset control subsystem, a wheelset radial motion posture solution system, an actuator joint command coordination control system, a multi-channel control command coordination management system, a radial control system fault actuator reset control unit and an electro-hydraulic servo control system.

[0013] Preferably, the multi-sensor information fusion system receives and processes information from the sensor system and the radial bogie wheelset control subsystem.

[0014] Preferably, there are two electro-hydraulic servo control systems, which respectively control the first telescopic cylinder assembly and the second telescopic cylinder assembly to control steering. There are also two radial control system fault actuator reset control units, and each radial control system fault actuator reset control unit controls an electro-hydraulic servo control system.

[0015] Therefore, the present invention adopts a multifunctional steering control system of a radial bogie with the above-mentioned structure. By using the control system, when the train passes through a curved track, its wheels tend to the radial direction of the curve and the axle rotates along the curve direction. The radial steering function of the train is realized with a reasonable layout and reliable structure. In addition, the system is a flexible and open system that can realize multiple steering modes through software programming, which is more conducive to improving the train's driving and steering performance.

[0016] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a multifunctional steering control system of a radial bogie of the present invention;

[0018] Figure 2 It is a front view of a multifunctional steering control system of a radial bogie of the present invention;

[0019] Figure 3 A top view of a multifunctional steering control system of a radial bogie according to the present invention;

[0020] Figure 4 A diagram showing the position of a first telescopic cylinder and a sensor system of a multifunctional steering control system of a radial bogie according to the present invention;

[0021] Figure 5 It is a front view of a second embodiment of a multifunctional steering control system for a radial bogie of the present invention;

[0022] Figure 6 A top view of a second embodiment of a multifunctional steering control system for a radial bogie of the present invention;

[0023] Figure 7 This is a front view of a third embodiment of a multifunctional steering control system for a radial bogie of the present invention;

[0024] Figure 8 A top view of a third embodiment of a multifunctional steering control system for a radial bogie of the present invention;

[0025] Fig. 9 A control system workflow diagram of a multifunctional steering control system of a radial bogie of the present invention;

[0026] Fig.10 It is a working flow chart of an electro-hydraulic servo control system of a multifunctional steering control system of a radial bogie of the present invention;

[0027] Fig.11 It is a structural diagram of a movable tail hinge seat and an electromagnetic coil assembly of a multifunctional steering control system of a radial bogie of the present invention;

[0028] Fig.12 This is an internal view of a movable tail hinge seat of a multifunctional steering control system of a radial bogie of the present invention;

[0029] Fig.13 It is a schematic diagram of a first telescopic cylinder assembly, a second telescopic cylinder assembly and a reset cylinder of a multifunctional steering control system of a radial bogie of the present invention;

[0030] Reference numerals

[0031] 1. Wheelset assembly; 11. Wheelset; 12. Braking device; 13. Center pin bearing seat assembly; 14. Guide bearing seat assembly; 15. Reset lever; 16. Reset slider; 17. Grounding brush housing assembly; 2. Car frame; 3. Gas spring bolster assembly; 31. Gas spring turntable; 32. Rotating column; 33. Gas spring; 34. Connecting shaft; 35. Longitudinal force transmission rod; 36. Transverse limit force transmission rod; 4. Reset bogie; 41. Reset oil cylinder; 42. Reset fixing seat; 43. Reset hook; 44. Reset tension spring; 5. First telescopic cylinder assembly; 51. First telescopic cylinder; 52. Active tail hinge seat; 53. Electromagnetic coil assembly body; 54, locking mechanism; 55, wedge block actuator; 56, cam structure; 57, slide rail; 6, second telescopic cylinder assembly; 61, second telescopic cylinder; 71, vehicle speed sensor; 72, geographic location and track information receiver; 73, binocular vision sensor and distance sensor assembly; 74, rocker angle sensor; 75, force sensor; 8, center swing bogie; 81, first steering rocker arm; 82, diagonal connecting rod; 83, second steering rocker arm; 84, connecting main rod; 85, end connecting rod; 86, middle connecting rod; 9, proportional bogie; 91, steering force transmission rod; 92, proportional connecting rod; 93, elastic force measuring slider. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example 1

[0035] like Figure 1-Figure 13 The multifunctional steering control system of a radial bogie of the present invention includes a wheelset assembly 1, a car-type frame 2, a gas spring bolster assembly 3, a control system, a sensor system, a reset bogie 4, a first telescopic cylinder assembly 5 and a second telescopic cylinder assembly 6, wherein the wheelset assembly 1 has two wheelsets respectively arranged on both sides below the car-type frame 2, the gas spring bolster assembly 3 is arranged at the center position of the car-type frame 2 and the center position of the gas spring bolster assembly 3 is sleeved on the outside of the center position of the car-type frame 2, the sensor system is arranged on the wheelset assembly 1 and the car-type frame 2, the first telescopic cylinder assembly 5 is arranged on one side of the car-type frame 2, the second telescopic cylinder assembly 6 is arranged on the other side of the car-type frame 2, and the first telescopic cylinder assembly 5 and the second telescopic cylinder assembly 6 are arranged in a centrally symmetrical manner and are respectively connected to the two wheelset assemblies 1, and the reset bogie 4 is arranged above the car-type frame 2 and is respectively connected to the two wheelset assemblies 1.

[0036] The wheelset assembly 1 includes a wheelset 11, a braking device 12, a center pin bearing seat assembly 13, a guide bearing seat assembly 14, and a grounding brush housing assembly 17. The center pin bearing seat assembly 13 is arranged at a lower side of the car-type frame 2 and is fixed to the car-type frame 2 through a center pin. One end of the wheelset 11 is connected to the center pin bearing seat assembly 13, and the other end of the wheelset 11 is connected to the guide bearing seat assembly 14. The guide bearing seat assembly 14 is sleeved on the car-type frame 2, and a reset lever 15 and a reset slider 16 are arranged at the top. The grounding brush housing assembly 17 is arranged on the inner side of one end of the wheelset 11 close to the center pin bearing seat assembly 13, and the braking device 12 is arranged on the inner side of one end of the wheelset 11 close to the guide bearing seat assembly 14 and is connected to the guide bearing seat assembly 14.

[0037] The gas spring rocker assembly 3 includes a gas spring turntable plate 31 and a rotating column 32. The gas spring turntable plate 31 is in a "Bu"-shaped structure and is provided with three connecting shafts 34. The rotating column 32 is arranged at the center position of the gas spring turntable plate 31. Two gas springs 33 are symmetrically arranged on both sides of the rotating column 32. The two sides of the gas spring turntable plate 31 away from the rotating column 32 are connected to two longitudinal force transmission rods 35 through two connecting shafts 34. The third connecting shaft 34 of the gas spring turntable plate 31 is connected to the frame through a transverse limit force transmission rod 36.

[0038] The reset bogie 4 includes two reset cylinders 41, one end of the two reset cylinders 41 is respectively connected to two reset fixing seats 42, the two reset fixing seats 42 are centrally symmetrically arranged on the car-type frame 2, the other ends of the two reset cylinders 41 are respectively provided with reset hooks 43 connected to the reset lever 15, and the outer side of the reset cylinder 41 is provided with a reset tension spring 44.

[0039] The sensor system includes two vehicle speed sensors 71 arranged on the center pin bearing seat assembly 13 of the wheelset assembly 1, a geographical location and track information receiver 72 on the side of the car-type frame 2 close to the first telescopic cylinder assembly 5 and close to the vehicle speed sensor 71, four binocular vision sensors and ranging sensor assemblies 73 respectively arranged on the car-type frame 2 and close to one side of the wheelset 11, and a rocker angle sensor 74 arranged on the car-type frame 2 below the center position of the gas spring turntable plate 31 and connected to the gas spring turntable plate 31.

[0040] The first telescopic cylinder assembly 5 includes a first telescopic cylinder 51 and a movable tail hinge seat 52 connected to one side of the first telescopic cylinder 51, a slide rail 57 is arranged inside the movable tail hinge seat 52, cam structures 56 are arranged on both sides of the slide rail 57, a wedge actuator 55 is arranged in the middle of each group of cam structures 56, the movable tail hinge seat 52 is connected to the electromagnetic coil assembly 53, the electromagnetic coil assembly 53 is connected to the locking mechanism 54, and the piston of the first telescopic cylinder 51 is connected to the guide bearing seat assembly 14 close to the first telescopic cylinder assembly 5.

[0041] The second telescopic cylinder assembly 6 includes a second telescopic cylinder 61 , and a piston of the second telescopic cylinder 61 is connected to a guide bearing seat assembly 14 close to the second telescopic cylinder assembly 6 .

[0042] The control system consists of a multi-sensor information fusion system, a radial bogie wheelset control subsystem, a wheelset radial motion posture solution system, an actuator joint command coordination control system, a multi-channel control command coordination management system, a radial control system fault actuator reset control unit and an electro-hydraulic servo control system.

[0043] The multi-sensor information fusion system receives and processes the information from the sensor system and the radial bogie wheelset control subsystem.

[0044] There are two electro-hydraulic servo control systems, which respectively control the first telescopic cylinder assembly 5 and the second telescopic cylinder assembly 6 to control the steering. There are also two radial control system fault actuator reset control units, and each radial control system fault actuator reset control unit controls an electro-hydraulic servo control system.

[0045] Example 2

[0046] like Figure 5 and Figure 6 The control system in the multifunctional steering control system of a radial bogie shown in the figure can also be applied to Figure 5 The steering process of the bogie shown in Example 2 uses a center swing bogie 8, and the center swing bogie 8 includes a first steering rocker arm 81 and a second steering rocker arm 83 symmetrically arranged about the air spring rocker assembly 3 and the air spring turntable plate 31. The first steering rocker arm 81 and the second steering rocker arm 83 are connected by a diagonal connecting rod 82 sleeved on the outside of the rotating column 32, and the first steering rocker arm 81 and the second steering rocker arm 83 are respectively connected to the wheelset assembly 1 close to them, one side of the first steering rocker arm 81 is connected to the middle connecting rod 86, and the end of the middle connecting rod 86 away from the first steering rocker arm 81 is connected to the connecting main rod 84, and the end of the connecting main rod 84 away from the middle connecting rod 86 is connected to the first telescopic cylinder assembly 5 through a force sensor 75, and an end connecting rod 85 is arranged between the connecting main rod 84 and the middle connecting rod 86, and the end connecting rod 85 is connected to the air spring turntable plate 31.

[0047] Example 3

[0048] like Figure 7 and Figure 8 The control system in the multifunctional steering control system of a radial bogie shown in the figure can also be applied to Figure 7 As shown in the steering process of the bogie, a proportional bogie 9 is used in Example 3, including two steering force transmission rods 91, one end of the two steering force transmission rods 91 is respectively connected to the two wheel set assemblies 1, and the other ends of the two steering force transmission rods 91 are connected to the proportional connecting rod 92. The proportional connecting rod 92 is in a "Bu"-shaped structure with three connecting ends. The two steering force transmission rods 91 are respectively connected to the two ends of the proportional connecting rod 92 in a straight line direction, and the third end of the proportional connecting rod 92 is connected to the first telescopic cylinder assembly 5. An elastic force measuring slider 93 is provided on the upper side of one end of the proportional connecting rod 92 close to the rotating column 32, and the elastic force measuring slider 93 is embedded in the middle position of the gas spring turntable plate 31.

[0049] Embodiment 1, embodiment 2 and embodiment 3 can all realize multifunctional steering under the control of the control system. The first telescopic cylinder and the second telescopic cylinder are servo electric cylinders or servo oil cylinders, and when the first telescopic cylinder is a servo electric cylinder, the second telescopic cylinder is also a servo electric cylinder, and when the first electric cylinder is a servo oil cylinder, the second telescopic cylinder is also a servo oil cylinder.

[0050] Working principle, such as Fig. 9 and Fig.10 When working, the control system will select different steering modes according to the status of the sensor:

[0051] When all sensors are working normally, the radial bogie is in the active radial steering process; at this time, the multi-sensor information fusion system receives the information provided by the sensor system, and combines the information from the radial bogie wheelset control subsystem, the force sensor and the bolster angle sensor to obtain the current route status, and then obtains the current posture through the wheelset radial motion posture solution system, transmits the current posture to the actuator joint command coordination control system and sends control information to the two electro-hydraulic servo control systems through the multi-channel control command coordination management system.

[0052] After receiving the digital signals from the multi-channel control command coordination management system, the two electro-hydraulic servo control systems process the signals through digital deviation, digital-to-analog change, and servo amplifier processing, and then input them into the second telescopic cylinder assembly and the first telescopic cylinder assembly respectively.

[0053] If the bogie uses a servo cylinder, taking the front wheel pair as an example for steering, the front wheel pair is connected to the second telescopic cylinder assembly. When the vehicle runs on a straight road, the electro-hydraulic servo valve in the second telescopic cylinder assembly works in the middle position, the electro-hydraulic servo valve is connected to the hydraulic station, the left and right oil chambers of the second telescopic cylinder are not connected, and the second telescopic cylinder does not move; when turning left, the electro-hydraulic servo valve works in the right position, the oil enters from the right side of the second telescopic cylinder, pushing the piston of the second telescopic cylinder to move to the left, the piston retracts to drive the guide bearing seat assembly to move, at this time the rear wheel pair swings counterclockwise around the center pin bearing seat assembly to complete the steering; when turning right, the electro-hydraulic servo valve works in the left position, the oil enters from the left side of the second telescopic cylinder, pushing the piston of the second telescopic cylinder to move to the right, the piston extends to push the guide bearing seat assembly to move to the right, at this time the rear wheel pair swings clockwise around the center pin bearing seat assembly to complete the steering.

[0054] If the bogie uses a servo electric cylinder, the rear wheel pair is used as an example for steering. The rear wheel pair is connected to the first telescopic cylinder assembly. When the vehicle runs on a straight road, the servo motor in the first telescopic cylinder assembly remains stationary, the piston of the first telescopic cylinder remains stationary, and the first telescopic cylinder does not move; when turning left, the servo motor pushes the piston of the first telescopic cylinder to move left, and the piston extends to push the guide bearing seat assembly to move. At this time, the rear wheel pair swings clockwise around the center pin bearing seat assembly to complete the steering; when turning right, the servo motor controls the piston of the first telescopic cylinder to retract to the right back into the cylinder body, and the piston drives the guide bearing seat assembly to move to the right. At this time, the rear wheel pair swings counterclockwise around the guide bearing seat assembly to complete the steering.

[0055] When a sensor other than the bolster angle sensor fails, the radial bogie is in the process of assisted radial steering; at this time, the control system receives information from the normally functioning sensors and sends control signals to the two electro-hydraulic servo control systems after information fusion analysis and decision-making. The steering process is consistent with the active radial steering process.

[0056] When all sensors fail or the servo actuator fails, the radial bogie is in a passive forced radial steering process. At this time, the multi-channel control command communication management system sends control commands to the two radial control system fault servo actuator reset units to control the left and right cavities of the servo actuator to be connected. At this time, the servo actuator is in a floating state and no longer applies force to the wheelset, opening the locking mechanism. The electromagnet in the electromagnetic coil assembly is energized to pull the wedge unlocking arm cam to rotate, and the cam pushes the wedge unlocking separation fork row to move, causing the wedge to rotate in the direction of a smaller contact diameter, thereby releasing the positive pressure of the wedge on the tail hinge slide rail, thereby releasing the locking force on the slide rail, and the bogie enters a passive forced steering state.

[0057] Taking the rear wheel as an example, when a fault occurs during straight travel, it is only necessary to put the servo actuator into a floating state, no longer apply force to the wheelset, release the positive pressure of the wedge block on the tail hinge slide rail, and the bogie enters a passive forced steering state; when a fault occurs during steering, in addition to making the first telescopic cylinder assembly enter a floating state, it is also necessary to drive the reset lever back to its original position through the telescopic return spring and the reset oil cylinder, so that the guide bearing seat assembly returns to its original position. At this time, the guide bearing seat assembly stops at the center original position under the action of the reset lever and the reset slider, and the bogie returns to straight travel and enters a passive forced steering state.

[0058] Therefore, the present invention adopts a radial bogie with the above structure that actively controls the wheelset to swing around the center. In order to enable the train to achieve radial steering function, the kinematic principle of a multi-rod mechanism is adopted, which can make the steering of the rail train have better stability and safety.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A multifunctional steering control system for a radial bogie, characterized in that: It includes a wheelset assembly, a car-type frame, a gas spring bolster assembly, a control system, a sensor system, a reset bogie, a first telescopic cylinder assembly and a second telescopic cylinder assembly. There are two wheelset assemblies, which are respectively arranged on both sides below the car-type frame. The gas spring bolster assembly is arranged at the center of the car-type frame and the center of the gas spring bolster assembly is sleeved on the outside of the center of the car-type frame. The sensor system is arranged on the wheelset assembly and the car-type frame. The first telescopic cylinder assembly is arranged on one side of the car-type frame and the second telescopic cylinder assembly is arranged on the other side of the car-type frame. The first telescopic cylinder assembly and the second telescopic cylinder assembly are arranged in a centrally symmetrical manner and are respectively connected to the two wheelset assemblies. The reset bogie is arranged above the car-type frame and is respectively connected to the two wheelset assemblies.

2. The multifunctional steering control system of a radial bogie according to claim 1, characterized in that: The wheelset assembly includes a wheelset, a braking device, a center pin bearing seat assembly, a guide bearing seat assembly, and a grounding brush housing assembly. The center pin bearing seat assembly is arranged on the lower side of the car-type frame and is fixed to the car-type frame by a center pin. One end of the wheelset is connected to the center pin bearing seat assembly, and the other end of the wheelset is connected to the guide bearing seat assembly. The guide bearing seat assembly is sleeved on the car-type frame, and a reset lever and a reset slider are arranged on the top. The grounding brush housing assembly is arranged on the inner side of one end of the wheelset close to the center pin bearing seat assembly, and the braking device is arranged on the inner side of one end of the wheelset close to the guide bearing seat assembly and is connected to the guide bearing seat assembly.

3. The multifunctional steering control system of a radial bogie according to claim 2, characterized in that: The gas spring rocker assembly includes a gas spring turntable plate and a rotating column. The gas spring turntable plate is in a "P"-shaped structure and is provided with three connecting shafts. The rotating column is arranged at the center of the gas spring turntable plate. Two gas springs are symmetrically arranged on both sides of the rotating column. The two sides of the gas spring turntable plate away from the rotating column are connected to two longitudinal force transmission rods through two connecting shafts. The third connecting shaft of the gas spring turntable plate is connected to the frame through a transverse limit force transmission rod.

4. The multifunctional steering control system of a radial bogie according to claim 3, characterized in that: The reset bogie includes two reset oil cylinders, one end of the two reset oil cylinders is respectively connected to two reset fixing seats, the two reset fixing seats are centrally symmetrically arranged on the car-type structure, the other ends of the two reset oil cylinders are respectively provided with reset hooks connected to the reset lever, and the outer side of the reset oil cylinder is provided with a reset tension spring.

5. The multifunctional steering control system of a radial bogie according to claim 4, characterized in that: The sensor system includes two vehicle speed sensors arranged on the center pin bearing seat assembly of the wheelset assembly, a geographic location and track information receiver arranged on the side of the car frame close to the first telescopic cylinder assembly and close to the vehicle speed sensor, a binocular vision sensor and ranging sensor assembly arranged on the car frame and close to one side of the wheelset, and a rocker angle sensor arranged on the car frame below the center position of the gas spring turntable and connected to the gas spring turntable. There are four binocular vision sensors and ranging sensor assemblies.

6. The multifunctional steering control system of a radial bogie according to claim 5, characterized in that: The first telescopic cylinder assembly includes a first telescopic cylinder and a movable tail hinge seat connected to one side of the first telescopic cylinder, a slide rail is arranged inside the movable tail hinge seat, cam structures are arranged on both sides of the slide rail, a wedge actuator is arranged in the middle of each group of cam structures, the movable tail hinge seat is connected to an electromagnetic coil assembly, the electromagnetic coil assembly is connected to a locking mechanism, and the piston of the first telescopic cylinder is connected to a guide bearing seat assembly close to the first telescopic cylinder assembly.

7. The multifunctional steering control system of a radial bogie according to claim 6, characterized in that: The second telescopic cylinder assembly comprises a second telescopic cylinder, and a piston of the second telescopic cylinder is connected to a guide bearing seat assembly close to the second telescopic cylinder assembly.

8. The multifunctional steering control system of a radial bogie according to claim 7, characterized in that: The control system consists of a multi-sensor information fusion system, a radial bogie wheelset control subsystem, a wheelset radial motion posture solution system, an actuator joint command coordination control system, a multi-channel control command coordination management system, a radial control system fault actuator reset control unit and an electro-hydraulic servo control system.

9. The multifunctional steering control system of a radial bogie according to claim 8, characterized in that: The multi-sensor information fusion system receives and processes the information from the sensor system and the radial bogie wheelset control subsystem.

10. The multifunctional steering control system of a radial bogie according to claim 9, characterized in that: There are two electro-hydraulic servo control systems, which respectively control the first telescopic cylinder assembly and the second telescopic cylinder assembly to control the steering. There are also two radial control system fault actuator reset control units, and each radial control system fault actuator reset control unit controls an electro-hydraulic servo control system.

Images