Steering Control for Trackless Train Trailers
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Solution Overview
Problem
Current articulated bus steering systems limit the flexibility and number of trailer carriages that can follow the locomotive's track, restricting the operational capacity and flexibility of trackless trains.
Innovation Solution
A steering control device and method that uses a controller connected to a clock, odometer, and steering angle meter to calculate and control the steering angle of trailer carriages via an optical network, allowing each carriage to maintain the same track as the locomotive, with the option of using a rack and pinion steering mechanism driven by a stepping motor, enabling unlimited trailer carriages to follow the locomotive's path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If the number of trailer carriages is increased to enhance transport capacity, then the transport capacity is improved, but the steering flexibility and ability to follow the locomotive's track deteriorates
Solution Approach 1:
The patent implements dynamic steering control where the steering angle of each trailer carriage is continuously adjusted based on real-time trajectory data and relative position to the locomotive. The control system calculates required steering angles dynamically using the formula α_k(t) = α_0(t-Δt_k) - ω(t-Δt_k)·Δt_k, allowing the train to maintain flexibility regardless of the number of carriages.
Solution Approach 2:
The system employs feedback control by continuously monitoring the actual position and orientation of each trailer carriage and comparing it with the desired trajectory. The controller adjusts the steering angles based on this feedback to ensure all carriages follow the locomotive's path accurately, solving the steering flexibility problem for extended train configurations.
2Device complexity
If a traditional angle sensor control system is used for trailer carriages, then the steering control is simplified, but the control precision and ability to maintain the same track deteriorates
Solution Approach 1:
The patent replaces traditional mechanical angle sensors with an electronic control system that uses odometer data, clock timing, and computational algorithms to determine steering angles. This substitution of mechanical measurement with electronic computation achieves higher precision in trajectory following while maintaining acceptable system complexity.
Solution Approach 2:
The system changes the control parameter from direct angle sensing to a calculated approach using time (t), distance (s), and velocity (v) parameters. By measuring the locomotive's travel time and distance and computing the required steering angle through mathematical relationships, the system achieves precise trajectory following without complex mechanical sensors.
3Measurement precision
If advanced steering control systems are implemented to improve trajectory following, then the trajectory following precision is improved, but the device complexity and cost increase
Solution Approach 1:
The patent makes the locomotive's existing odometer and clock serve multiple functions: they not only provide speed and position information for the locomotive but also enable trajectory calculation and steering control for all trailer carriages. This multi-functionality reduces the need for additional specialized equipment, achieving high precision trajectory following with minimal added complexity.
Solution Approach 2:
The system enables the locomotive to automatically provide the trajectory information needed by trailer carriages through its existing sensors and computational capabilities. The locomotive essentially serves itself and the trailers by using its own motion data to generate steering commands for the entire train, eliminating the need for complex external control infrastructure.
Data Source
Figure 1~3
AI summary
Disclosed is a steering control method for a trackless train, relating to the field of public transportation. The trackless train is formed of a locomotive 1 hinged to carriages of N trailers 2. The locomotive of the trackless train is provided with an axle for a pair of steering drive wheels 6. The steering drive wheels and steering angles thereof are controlled by a driver through a bogie 3. The bogie is provided with an angle sensor 9 connected to an input end of a steering angle meter 8. The kth trailer carriage is provided with a steering wheel 11 having a steering mechanism 10, wherein the steering angle of the steering wheel is controlled by the steering mechanism. A controller 7 is provided at the locomotive, wherein an input end of the controller is connected to an output end of a clock 4, an odometer 5 and the steering angle meter, and an output end of the controller is connected to an input end of the steering mechanism of each one of the trailers via an optical network 12. The controller simultaneously records a time t(s) output by the clock, a mileage(m) output by the odometer and a steering angle of the steering drive wheels of the locomotive output by the steering angle meter, and can then fully describe and control a travelling track of the trackless train, such that the steering wheels of the trailer carriages and the steering drive wheels of the locomotives maintain the same track during travel. The present invention is mainly applied to trackless public transportation systems.