虚拟轨道自导型运输系统的悬浮跨接走行车辆架构
李辰生1,2张蕊姣1陈经纬1,2
Suspended Straddle Walking Vehicle Architecture for Virtual Rail Self-guided Transport System
LI ChenshengZHANG RuijiaoCHEN Jingwei
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作者信息:1.中车唐山机车车辆有限公司，063035，唐山
2.河北省轨道车辆转向架技术创新中心，063035，唐山
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Affiliation:CRRC Tangshan Co., Ltd., 063035, Tangshan, China
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关键词:
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Key words:
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DOI:10.16037/j.1007-869x.2022.01.039
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中图分类号/CLCN:U482.1
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栏目/Col:应用技术
摘要:
提出了一种虚拟轨道自导型运输系统列车新架构——悬浮跨接走行虚拟轨道列车。介绍了悬浮跨接走行模式的架构型式及关键部件的结构。通过车辆运动学分析，以及导向力和运动自由度匹配性分析，讨论了列车结构的循迹充分性；利用解耦控制理论分析了列车的运动解耦性。采用悬浮跨接走行模式的虚拟轨道列车在理论上可以通过全轮转向控制实现车体各个横向自由度的充分循迹，从而使列车在轨道上达到最佳位置和姿态；列车各个走行部可以实现解耦运动，这表明可以通过在每个走行部只设置一个独立的、局部的控制器即可实现列车的循迹运动。与此同时，各个走行部之间不存在运动干涉，有利于提高列车的整体动力学性能。
Abstracts:
A new train architecture of virtual rail self\|guided transport system-suspended straddle walking virtual rail train is presented. The architecture format and key component structure of suspended straddle walking mode are introduced. By means of vehicle kinematics analysis and steering force-motion freedom degree matching analysis, the rail adequacy of train structure is discussed, and the motion decoupling of train is analyzed using decoupling control theory. Virtual rail train with suspension straddle walking mode can theoretically follow the track of each lateral degree of freedom of the train body with full wheel steering control, so that the train can reach the best position and attitude on the rail. The decoupling motion of each moving part of the train can be realized, which indicates that the tracking motion of the train can be realized by setting only an independent and local controller in each moving part. At the same time, there is no motion interference between each moving part, which is beneficial to improving the overall dynamic performance of the train.
引文 / Ref:
李辰生,张蕊姣,陈经纬.虚拟轨道自导型运输系统的悬浮跨接走行车辆架构[J].城市轨道交通研究，2022，25（1）：200.
LI Chensheng,ZHANG Ruijiao,CHEN Jingwei.Suspended Straddle Walking Vehicle Architecture for Virtual Rail Self-guided Transport System[J].Urban mass transit，2022，25（1）：200.
LI Chensheng,ZHANG Ruijiao,CHEN Jingwei.Suspended Straddle Walking Vehicle Architecture for Virtual Rail Self-guided Transport System[J].Urban mass transit，2022，25（1）：200.
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