数字轨道胶轮列车全轴转向控制策略仿真
胡基贵1王鹤迁2孙兆聪2张弛1王文军2奉嘉明3
Simulation of Full-axle Steering Control Strategy for DRT
HU Jigui1WANG Heqian2SUN Zhaocong2ZHANG Chi1WANG Wenjun2FENG Jiaming3
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作者信息:1.中车南京浦镇车辆有限公司， 210031， 南京
2.清华大学车辆与运载学院， 100084， 北京
3.华中科技大学机械科学与工程学院， 430074， 武汉
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Affiliation:1.CRRC Nanjing Puzhen Co., Ltd., 210031, Nanjing, China
2.School of Vehicle and Mobility, Tsinghua University, 100084, Beijing, China
3.School of Mechanical Science & Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China
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关键词:
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Key words:
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DOI:10.16037/j.1007-869x.2024.05.019
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中图分类号/CLCN:U284.37
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栏目/Col:研究报告
摘要:
［目的］DRT（数字轨道胶轮列车）（以下简称“数轨列车”）具有多车厢、多转向轴的复杂走行结构，与传统胶轮列车具有较大差异，故需结合转向系统架构设计与响应参数，设计一种全轴转向控制策略，以实现数轨列车的平稳、安全、高效运行。［方法］分别对单节、双节、多节车辆建立数轨列车模型；通过建模成功将复杂的三编组车辆模型简化为四自由度刚体运动模型，将数轨列车的转向系统控制问题转化为对四个控制点的运动学控制问题，并提出了一种数轨列车全轴转向控制策略。［结果及结论］MATLAB软件仿真结果表明：提出的全轴转向控制策略方法，能够将数轨列车的运动轨迹偏差控制在10 cm内。
Abstracts:
［Objective］ Digital rail transit of rubber-tyred train (DRT) features a complex running structure with multiple carriages and axles, significantly differing from conventional rubber-tyred trains. Therefore, it is necessary to design a full-axle steering control strategy based on the design and response parameters of the steering system to achieve smooth, safe, and efficient operation of DRT. ［Method］ Models of single-car, double-car, and multiple-car vehicles are established for DRT. By successfully simplifying the complex three-car model into a four-degree-of-freedom rigid body motion model, the steering control problem of DRT is transformed into a kinematic control problem for four control points. A full-axle steering control strategy for DRT is proposed. ［Result & Conclusion］ MATLAB software simulation results demonstrate that the proposed full-axle steering control strategy can limit the deviation of the motion trajectory of DRT within 10 cm.
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