A multi-functional steering control system for a radial bogie

Abstract

The present invention discloses a multi-functional steering control system for a radial bogie, belonging to the technical field of bogies. It includes a wheel set assembly, a car body frame, an air 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 wheel set assemblies respectively arranged on both sides below the car body frame. The air spring bolster assembly is arranged at the central position of the car body frame. The sensor system is arranged on the wheel set assembly and the car body frame. The first telescopic cylinder assembly is arranged on one side of the car body frame, and the second telescopic cylinder assembly is arranged on the other side of the car body frame. Moreover, the first telescopic cylinder assembly and the second telescopic cylinder assembly are centrosymmetrically arranged and are respectively connected to the two wheel set assemblies. The reset bogie is arranged above the car body frame and is respectively connected to the two wheel set assemblies. The layout of the present invention is reasonable and the structure is reliable, realizing the radial steering function, which is beneficial to improving the train running and steering performance.

Description

Technical Field

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

[0002] Traditional bogies play an important role in rail transit vehicles. However, with the increase in vehicle operating speed and the complexity of line conditions, their limitations have gradually emerged. In order to maintain the stability of fast operation, traditional bogies usually need to increase the horizontal connection stiffness between the wheelset and the side frame, but this will limit the improvement of their curve passing performance. Specifically, when a traditional bogie passes through a curve, the attack angle and lateral force between the wheelset and the rail are relatively large, resulting in increased wheel-rail wear, which not only affects the operation efficiency of the vehicle but also increases the maintenance cost.

[0003] To solve the limitations of traditional bogies, radial bogies have emerged. Through the action of the radial mechanism, a radial bogie can reasonably distribute the wheel-rail lateral force without reducing the longitudinal positioning stiffness of the axle box, effectively reducing wheel-rail wear. However, the effect of reducing wear is not obvious, and manual inspection and adjustment are still required frequently. Moreover, the wear and failure rate under complex line conditions may be relatively high, increasing the maintenance cost. Based on this, the present invention designs a multi-functional steering control system for a radial bogie to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-functional steering control system for a radial bogie. By using the control system to control the radial bogie to achieve multi-functional steering, when the train passes through a curved track, the wheelset 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 reasonably and reliably in terms of layout and structure. In addition, a flexible open system is used, which can realize multiple steering modes through software programming, and is more conducive to improving the driving and steering performance of the train.

[0005] To achieve the above purpose, the present invention provides a multi-functional steering control system for a radial bogie, which includes a wheelset assembly, a car body frame, an air 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 respectively arranged on both sides below the car body frame. The air spring bolster assembly is arranged at the central position of the car body frame, and the central position of the air spring bolster assembly is sleeved outside the central position of the car body frame. The sensor system is arranged on the wheelset assembly and the car body frame. The first telescopic cylinder assembly is arranged on one side of the car body frame, and the second telescopic cylinder assembly is arranged on the other side of the car body frame. The first telescopic cylinder assembly and the second telescopic cylinder assembly are centrosymmetrically arranged and are respectively connected to the two wheelset assemblies. The reset bogie is arranged above the car body 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 wheel set control subsystem, a wheel set radial movement pose calculation system, an actuator combined 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 the information from the sensor system and the radial bogie wheel set control subsystem and processes it.

[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 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 one electro-hydraulic servo control system.

[0015] Therefore, the present invention adopts the multi-functional steering control system of a radial bogie with the above structure. By using the control system, when the train passes through a curved track, its wheel set tends to the radial direction of the curve, and the axle rotates along the curve direction. The layout is reasonable and the structure is reliable to achieve the radial steering function of the train. And this system is a flexible open system, which can realize multiple steering modes through software programming, and is more conducive to improving the train running and steering performance.

[0016] Next, through the drawings and embodiments, the technical solution of the present invention will be further described in detail. Brief Description of the Drawings

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

[0018] Figure 2 is a front view of a multi-functional steering control system of a radial bogie of the present invention;

[0019] Figure 3 is a top view of a multi-functional steering control system of a radial bogie of the present invention;

[0020] Figure 4 is a position diagram of the first telescopic cylinder and the sensor system of a multi-functional steering control system of a radial bogie of the present invention;

[0021] Figure 5 is a front view of Embodiment 2 of a multi-functional steering control system of a radial bogie of the present invention;

[0022] Figure 6 is a top view of Embodiment 2 of a multi-functional steering control system of a radial bogie of the present invention;

[0023] Figure 7 Front view of Embodiment 3 of the multi-functional steering control system of a radial bogie according to the present invention;

[0024] Figure 8 Top view of Embodiment 3 of the multi-functional steering control system of a radial bogie according to the present invention;

[0025] Figure 9 Working flow chart of the control system of the multi-functional steering control system of a radial bogie according to the present invention;

[0026] Figure 10 Working flow chart of the electro-hydraulic servo control system of the multi-functional steering control system of a radial bogie according to the present invention;

[0027] Figure 11 Structural diagram of the movable tail hinge seat and electromagnetic coil assembly of the multi-functional steering control system of a radial bogie according to the present invention;

[0028] Figure 12 Internal view of the movable tail hinge seat of the multi-functional steering control system of a radial bogie according to the present invention;

[0029] Figure 13 Schematic diagram of the first telescopic cylinder assembly, the second telescopic cylinder assembly and the reset oil cylinder of the multi-functional steering control system of a radial bogie according to the present invention;

[0030] Reference numerals

[0031] 1. Wheel set assembly; 11. Wheel set; 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 body frame; 3. Air spring bolster assembly; 31. Air spring turntable plate; 32. Rotating column; 33. Air spring; 34. Connecting shaft; 35. Longitudinal force transmission rod; 36. Lateral limit force transmission rod; 4. Reset bogie; 41. Reset oil cylinder; 42. Reset fixed seat; 43. Reset hook; 44. Reset tension spring; 5. First telescopic cylinder assembly; 51. First telescopic cylinder; 52. Movable tail hinge seat; 53. Electromagnetic coil assembly; 54. Locking mechanism; 55. Wedge block actuating device; 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 ranging sensor assembly; 74. Bolster rotation angle sensor; 75. Force measuring 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. Intermediate connecting rod; 9. Equal-ratio bogie; 91. Steering force transmission rod; 92. Equal-ratio connecting rod; 93. Elastic force measuring slider. Detailed implementation manners

[0032] To make the objectives, 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 with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the accompanying 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 claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0034] Embodiment 1

[0035] As shown in Figures 1 - 13 A multi-functional steering control system of a radial bogie of the present invention includes a wheel set assembly 1, a car body frame 2, an air 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. There are two wheel set assemblies 1 respectively arranged on both sides below the car body frame 2. The air spring bolster assembly 3 is arranged at the central position of the car body frame 2 and the central position of the air spring bolster assembly 3 is sleeved outside the central position of the car body frame 2. The sensor system is arranged on the wheel set assembly 1 and the car body frame 2. The first telescopic cylinder assembly 5 is arranged on one side of the car body frame 2. The second telescopic cylinder assembly 6 is arranged on the other side of the car body frame 2. And the first telescopic cylinder assembly 5 and the second telescopic cylinder assembly 6 are arranged in central symmetry and are respectively connected to the two wheel set assemblies 1. The reset bogie 4 is arranged above the car body frame 2 and is respectively connected to the two wheel set assemblies 1.

[0036] The wheel set assembly 1 includes a wheel set 11, a braking device 12, a center pin bearing seat assembly 13, a guiding bearing seat assembly 14, and a grounding brush housing assembly 17. The center pin bearing seat assembly 13 is arranged below one side of the car body frame 2 and is fixed to the car body frame 2 through a center pin. One end of the wheel set 11 is connected to the center pin bearing seat assembly 13. The other end of the wheel set 11 is connected to the guiding bearing seat assembly 14. The guiding bearing seat assembly 14 is sleeved on the car body 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 inside one end of the wheel set 11 close to the center pin bearing seat assembly 13. The braking device 12 is arranged inside one end of the wheel set 11 close to the guiding bearing seat assembly 14 and is connected to the guiding 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] In Embodiment 1, Embodiment 2, and Embodiment 3, multifunctional steering can be achieved under the control of a control system. The first telescopic cylinder and the second telescopic cylinder are servo electric cylinders or servo hydraulic cylinders. When the first telescopic cylinder is a servo electric cylinder, the second telescopic cylinder is also a servo electric cylinder. When the first electric cylinder is a servo hydraulic cylinder, the second telescopic cylinder is also a servo hydraulic cylinder.

[0050] The working principle is as Figure 9 and Figure 10 During operation, the control system will select different steering modes according to the status of the sensors:

[0051] When all sensors are working properly, the radial bogie is in the active radial steering process at this time. At this time, the multi-sensor information fusion system receives the information provided by the sensor system, combines the information from the wheel set control subsystem of the radial bogie, the force measuring sensor, and the bolster rotation angle sensor to obtain the current route status, and then obtains the current pose through the wheel set radial motion pose calculation system. The current pose is transmitted to the actuator joint command coordination control system, and control information is sent to the two electro-hydraulic servo control systems respectively through the multi-channel control command coordination management system.

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

[0053] Taking the front wheel set as an example for steering when the bogie uses a servo hydraulic cylinder, the front wheel set is connected to the second telescopic cylinder assembly. When the vehicle is running 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, and the left and right oil cavities of the second telescopic cylinder are not connected, and the second telescopic cylinder does not make a displacement. When turning left, the electro-hydraulic servo valve works in the right position, and 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 and drives the guide bearing seat assembly to move. At this time, the rear wheel set 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, and 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 and pushes the guide bearing seat assembly to move to the right. At this time, the rear wheel set swings clockwise around the center pin bearing seat assembly to complete the steering.

[0054] If a servo electric cylinder is used in the bogie, taking the rear wheel pair as an example for steering, the rear wheel pair is connected to the first telescopic cylinder assembly. When the vehicle is running 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 contract back into the cylinder body to the right, 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 sensors other than the bolster angle sensor fail, the radial bogie is in the process of assisted radial steering; at this time, the control system receives the information of the normally operating sensors, and after information fusion analysis and processing decisions, it sends control signals to the two electro-hydraulic servo control systems respectively, and the steering process is the same as that of the active radial steering.

[0056] When all sensors fail or the servo actuator fails, the radial bogie is in the process of passive forced radial steering. At this time, the multi-channel control instruction communication management system sends control instructions to the zero-position restoration units of the two radial control system fault servo actuators to connect the left and right chambers of the servo actuator. At this time, the servo actuator is in a floating state and no longer applies force to the wheel pair. The locking mechanism is opened, and the electromagnet in the electromagnetic coil assembly is energized to pull the wedge unlocking arm cam to rotate. The cam pushes the wedge unlocking separation fork row to move, so that the wedge rotates in the direction of decreasing contact diameter, relieves the positive pressure of the wedge on the tail hinge slide rail, and thus relieves the locking force on the slide rail, and the bogie enters the passive forced steering state.

[0057] Taking the rear wheel as an example, when a failure occurs during straight running, it is only necessary to make the servo actuator in a floating state, no longer apply force to the wheel pair, relieve the positive pressure of the wedge on the tail hinge slide rail, and the bogie enters the passive forced steering state; when a failure occurs during steering, at this time, in addition to making the first telescopic cylinder assembly enter the floating state, it is also necessary to drive the reset lever back to its original position through the expansion and contraction of the reset 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 running and enters the passive forced steering state.

[0058] Therefore, the present invention adopts a radial bogie with an active control wheel pair swinging around the center with the above structure. In order to enable the train to realize the radial steering function, the kinematic principle of the multi-link 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 solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions of the present invention or make equivalent replacements, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions 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, 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 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, 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; The wheelset assembly includes a guide bearing seat assembly, which is sleeved on the car-type frame and has a reset lever and a reset slider at the top; The gas spring bolster 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 respectively connected to two longitudinal force transmission rods through the first and second connecting shafts. The third connecting shaft of the gas spring turntable plate is connected to the frame through a transverse limit force transmission rod. 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.

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, 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 through 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 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 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.

4. The multifunctional steering control system of a radial bogie according to claim 3, 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.

5. The multifunctional steering control system of a radial bogie according to claim 4, 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.

6. The multifunctional steering control system of a radial bogie according to claim 5, 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.

7. The multifunctional steering control system of a radial bogie according to claim 6, 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.

8. The multifunctional steering control system of a radial bogie according to claim 7, 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.

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