CN105292249B - The track follow-up control method of rubber tire low-floor intelligent track train - Google Patents
The track follow-up control method of rubber tire low-floor intelligent track train Download PDFInfo
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- CN105292249B CN105292249B CN201510810876.7A CN201510810876A CN105292249B CN 105292249 B CN105292249 B CN 105292249B CN 201510810876 A CN201510810876 A CN 201510810876A CN 105292249 B CN105292249 B CN 105292249B
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Abstract
The invention discloses a kind of track follow-up control method of rubber tire low-floor intelligent track train, in the traveling process of rubber tire low-floor intelligent track train, it is ensured that first vehicle bridge of train, all hinged disk central points are operated on same track；Train is calculated in real time during traveling in order to ensure to operate in the corner of each wheel on same track, to control corner to drive steering to turn in real time.The present invention has the advantages that control is more accurate, can reduce radius of turn, improves road mobility.
Description
Technical field
Present invention relates generally to urban public transport apparatus field, refer in particular to a kind of suitable for rubber tire low-floor intelligent track
The control method that the train track of train is followed.
Background technology
Urban track traffic refers to the special line public transportation system with continuous steerable ability, and its feature shows as possessing spy
Orbit determination road, vehicle orbiting.Common urban track traffic has subway, light rail, tramcar etc..Wherein, subway, light rail
Mostly it is built on underground or overpass, its free-running operation in track special line is realized by using inaccessible pattern, though they
Right transport capacity is powerful, but early stage infrastructure and vehicle acquisition cost are larger so that it can not extensive use in small and medium-sized cities.Have
Rail electric car then needs special power system and track matching design, and either design and construction cost or maintenance cost be relatively
It is limited by greatly and easily running environment.
In addition to above-mentioned track traffic, other public transportation systems common are traditional bus, articulated vehicle
Train.Traditional bus cost is low, traveling is flexible, when there is barrier in front, can very easily avoid barrier and continue to go
Sail, when vehicle breaks down, can keep to the side, do not interfere with other vehicles traveling.But traditional bus transport power is few, it will usually logical
Cross be hinged more piece compartment come formed automobile train increase transport power.Develop truck combination in small and medium-sized cities and substitute traditional public transport
Car, ensure truck combination by safety factors such as property and steering behaviours under the conditions of, its can not only improve transport capacity and
Cost of transportation 30% or so can be reduced.Although articulated road train car passenger carrying capacity is big, it is compared with monomer car,
Maximum difference is the change by property because of the road that length of wagon longthening belt comes, and is embodied in radius of turn increase, turns
Shared track area increase, easily the other elements of road traffic with side are interfered, so as to can not pass through, or even are deteriorated
Traffic circulation environment, it is impossible to fast and efficiently realize public transportation.
The content of the invention
The technical problem to be solved in the present invention is that：The technical problem existed for prior art, the present invention provides one
Plant the rail for the rubber tire low-floor intelligent track train that control is more accurate, can reduce radius of turn, improve road mobility
Mark follow-up control method.
In order to solve the above technical problems, the present invention uses following technical scheme：
A kind of track follow-up control method of rubber tire low-floor intelligent track train, in rubber tire low-floor intelligent track row
In the traveling process of car, it is ensured that first vehicle bridge of train, all hinged disk central points are operated on same track；Row are calculated in real time
Car during traveling in order to ensure to operate in the corner of each wheel on same track, with control in real time corner drive steering system
System is turned to.
As a further improvement on the present invention：Before each wheel steering angle is calculated, auto model is first set up；That is, it will be hinged
The static models depression of order of formula truck combination is " single wheel model ", and the kinetic characteristic of such articulated road train is just located at wheel
The kinetic characteristic of " bicycle " of vehicle axis is described.
As a further improvement on the present invention：When rubber tire low-floor intelligent track train carries out curve driving, calculate each
It is individual steering Shaft angle the step of be：
I, the second axle axletree corner；For first segment compartment, a virtual axletree is built at pin joint, when the of vehicle
When one pin joint needs to meet consistent with the first track shaft, then there is delta1 and deltaV1g1 equal in magnitude in opposite direction,
Delta2 can be calculated according to the following formula：
DeltaV1g1=delta1
Wherein, delta1、delta2、delta3、delta4... it is the corner of each axletree, i.e. the first Shaft angle
delta1, the second Shaft angle delta2, the 3rd Shaft angle delta3, the 4th Shaft angle delta4；Wherein, deltaV1g1 is first
Individual pin joint relative to first segment compartment corner, Rv1 be the first segment compartment turning center of circle to the distance of vehicle body, L1 is first axle
With the distance of the second axle, L1g is distance of second axle to first pin joint；
II, the 4th axle axletree corner；For second section compartment, a virtual axletree is also built at second pin joint,
When vehicle second pin joint with first be hinged the locus of points it is consistent when, then have deltaV2g2 equal in magnitude with deltaV2g1
In the opposite direction：
DeltaV2g1=deltaV1g1+beta1
DeltaV2g2=deltaV2g1
4th axle of vehicle and first and second concyclic hearts of pin joint, delta4 are calculated according to below equation：
Wherein deltaV2g1 is corner of first pin joint relative to second section compartment, and deltaV2g2 is second hinge
Corner of the contact relative to second section compartment；
Wherein, Rv2 is distance of the second section compartment turning center of circle to vehicle body, and L2 is the distance of the 3rd axle and the 4th axle, L2g
For the distance of the 3rd axle to first pin joint, Lg2 is distance of the 4th axle to second pin joint；
III, the 3rd axle axletree corner：Because 2 points of the 4th axle and pin joint G1 determine straight lines, therefore second section car
The body gesture in railway carriage or compartment all determines that the 3rd axle wheel steering angle is the optimal corner needed for adapting to current body gesture；Delta3
Size be：
Compared with prior art, the advantage of the invention is that：
1st, the track follow-up control method of rubber tire low-floor intelligent track train of the invention, is advanced by calculating vehicle
During each wheel corner driving steering turn to, it is ensured that first vehicle bridge of train, all hinged disk central points are operated in
On same track.That is, the running orbit of each pin joint is overlapped with first axle center point, force hinged disk nematic garage
The centre position for sailing passage is drawn close, it is to avoid hinged disk position can be inclined to the outside of train driving passage in traditional control method, from
And the potential safety hazard brought.
2nd, the track follow-up control method of rubber tire low-floor intelligent track train of the invention, after usage so that
Articulated road train can fully show the big advantage of urban track traffic instrument passenger carrying capacity, while having traditional bus
The characteristics of cost is low, and radius of turn is small, turning channel is small, traveling is flexible, additionally by the control to hinged disk have compared with
Good travel safety.
Brief description of the drawings
Fig. 1 is the control principle schematic diagram of the inventive method.
Fig. 2 is the relation schematic diagram between inboard wheel and outboard wheels when compartment is turned among articulated road train.
Fig. 3 is converted into the relation schematic diagram between inboard wheel and outboard wheels when bicycle model trunk is turned to.
Fig. 4 is present invention delta2 in concrete application example calculating schematic diagram.
Fig. 5 is present invention delta4 in concrete application example calculating schematic diagram.
Fig. 6 is to use the articulated road train track final when turning after control method of the present invention to follow schematic diagram.
Embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
As shown in figure 1, the track follow-up control method of the rubber tire low-floor intelligent track train of the present invention, main to be applicable
In articulated road train, it is to drive steering to turn to by calculating the corner of each wheel in vehicular motion, is used for
Ensure that first vehicle bridge of train, all hinged disk central points are operated on same track.Concretely comprise the following steps：
S1：Set up auto model；It is " single wheel model " by the static models depression of order of articulated road train, can be referred to as
Bicycle model (bicycle-model)；
Before auto model is set up, compared with actual auto model, first carried out herein some it is assumed that its meet with
Lower condition：
1) direction for ignoring the side drift angle between tire and road, i.e. wheel determines the direction of vehicle；
2) acted on without other external force；
3) Vehicle Speed is low, and quality and inertia are ignored.
After the completion of above-mentioned hypothesis, you can set up " single wheel model " on articulated road train.
As shown in Fig. 2 being relation when compartment is turned between inboard wheel and outboard wheels among articulated road train
Schematic diagram.In figure：
Wherein delta11For outboard wheels corner, delta12For inboard wheel corner, delta1To be equivalent to single wheel model
The corner of intermediate point, W afterwards1It is interior outside wheel tracks from L1For first axle and the second wheelbase from.
By auto model and Fig. 2 signal, the kinetic characteristic of articulated road train can be located at wheel
The kinetic characteristic of " bicycle " of vehicle axis is described.Therefore, N saves the bicycle mould that the truck combination being hinged can be as shown in Figure 3
Type presents the relation be converted to when bicycle model trunk is turned between inboard wheel and outboard wheels to describe in Fig. 3.
S2：When carrying out curve driving, the corner of each steering spindle is calculated；Wherein, delta1、delta2、delta3、
delta4... it is the corner of each axletree, i.e. the first Shaft angle delta1, the second Shaft angle delta2, the 3rd Shaft angle
delta3, the 4th Shaft angle delta4。beta1、beta2……betanFor the hinged disk corner of the corner of each hinged disk, i.e., first
beta1, second hinged disk corner beta2, n-th of hinged disk corner betan。
Second axle axletree corner；For first segment compartment, a virtual axletree is built at pin joint, when the first of vehicle
When individual pin joint needs to meet consistent with the first track shaft, then there is delta1 and deltaV1g1 equal in magnitude in opposite direction.With reference to
Fig. 4 calculating schematic diagram, delta2 can be calculated according to the following formula：
DeltaV1g1=delta1
4th axle axletree corner：For second section compartment, a virtual axletree is also built at second pin joint, works as car
Second pin joint with first be hinged the locus of points it is consistent when, then have deltaV2g2 and deltaV2g1 directions equal in magnitude
Conversely.
DeltaV2g1=deltaV1g1+beta1
DeltaV2g2=deltaV2g1
4th axle of vehicle and first and second concyclic hearts of pin joint, with reference to Fig. 5 calculating schematic diagram, delta4 can root
Calculated according to below equation：
3rd axle axletree corner：
Due to 2 points of decision straight lines of the 4th axle and pin joint G1, therefore the body gesture in second section compartment is all true
Fixed, the 3rd axle wheel steering angle is the optimal corner needed for adapting to current body gesture.Delta3 size is：
S3：According to each obtained axletree corner is calculated in step S2, vehicle is controlled, completion track, which is followed, to be turned
To.
As shown in fig. 6, in the present embodiment using the articulated road train of above-mentioned control method when turning it is final
Track follows schematic diagram.Have urban track traffic instrument passenger carrying capacity big using the articulated road train of the control method
Advantage, marshalling is more, while there is the characteristics of traditional bus cost is low, and radius of turn is small, turning channel is small, traveling is clever
It is living, there is preferable travel safety additionally by the control to hinged disk.
In concrete application example, when carrying out straight-line travelling；
The corner of all axletrees is 0, i.e.,：
delta1=delta2=delta3=delta4=0
delta1、delta2、delta3、delta4... it is the corner of each axletree, i.e. the first Shaft angle delta1, second
Shaft angle delta2, the 3rd Shaft angle delta3, the 4th Shaft angle delta4。
It the above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.For example say, the present invention can also be applied to
Other kinds of multi-wheeler train, it is noted that for those skilled in the art, is not departing from this hair
Some improvements and modifications under the premise of bright principle, should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of track follow-up control method of rubber tire low-floor intelligent track train, it is characterised in that in rubber tire low-floor
In the traveling process of intelligent track train, it is ensured that first vehicle bridge of train, all hinged disk central points are operated on same track；
Train is calculated in real time during traveling in order to ensure to operate in the corner of each wheel on same track, to control corner in real time
Steering is driven to turn to；
Before each wheel steering angle is calculated, auto model is first set up；That is, it is by the static models depression of order of articulated road train
" single wheel model ", the motion that the kinetic characteristic of such articulated road train is just located at " bicycle " of vehicle axis with wheel is special
Property is described；
When rubber tire low-floor intelligent track train carries out curve driving, calculating the step of each turns to Shaft angle is：
I, the second axle axletree corner；For first segment compartment, a virtual axletree is built at pin joint, when first of vehicle
When pin joint needs to meet consistent with the first track shaft, then there is delta1 and deltaV1g1 equal in magnitude in opposite direction, delta2
It can be calculated according to the following formula：
DeltaV1g1=delta1
Wherein, delta1, delta2, delta3, delta4...... be each axletree corner, i.e. the first Shaft angle delta1,
Second Shaft angle delta2, the 3rd Shaft angle delta3, the 4th Shaft angle delta4；Wherein, deltaV1g1 is hinged for first
Point is relative to the corner in first segment compartment, and Rv1 is distance of the first segment compartment turning center of circle to vehicle body, and L1 is first axle and second
The distance of axle, L1g is distance of second axle to first pin joint；
II, the 4th axle axletree corner；For second section compartment, a virtual axletree is also built at second pin joint, works as car
Second pin joint with first be hinged the locus of points it is consistent when, then have deltaV2g2 and deltaV2g1 directions equal in magnitude
Conversely：
DeltaV2g1=deltaVg1+beta1
DeltaV2g2=deltaV2g1
4th axle of vehicle and first and second concyclic hearts of pin joint, delta4 are calculated according to below equation：
Wherein deltaV2g1 is corner of first pin joint relative to second section compartment, and deltaV2g2 is second pin joint
Relative to the corner in second section compartment；
Wherein, Rv2 is the distance that vehicle body is arrived in the second section compartment turning center of circle, and L2 is the distance of the 3rd axle and the 4th axle, and L2g is the
Three axles are to the distance of first pin joint, and Lg2 is distance of the 4th axle to second pin joint；
III, the 3rd axle axletree corner：Due to the 4th axle and 2 points of pin joint G1 decision straight lines, therefore second section compartment
Body gesture all determines that the 3rd axle wheel steering angle is the optimal corner needed for adapting to current body gesture；Delta3's is big
It is small to be：
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Families Citing this family (11)
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| NZ752013A (en) * | 2016-10-19 | 2020-05-29 | Crrc Zhuzhou Electric Locomotive Res Institute Co Ltd | Method for controlling stability of rubber-tired train at high speed |
| CN107963120B (en) * | 2016-10-19 | 2020-11-10 | 中车株洲电力机车研究所有限公司 | Automatic steering control method for rubber-tyred low-floor intelligent rail train |
| CN106347457A (en) * | 2016-10-19 | 2017-01-25 | 中车株洲电力机车研究所有限公司 | Following control method and system of train track and train |
| CN107351869B (en) * | 2017-06-15 | 2018-12-11 | 清华大学 | A kind of route tracking and controlling method of fully-trailed train |
| CN107933685B (en) * | 2017-11-23 | 2020-09-22 | 中车株洲电力机车有限公司 | Steering control method, system and equipment for multi-section vehicle |
| CN112849222A (en) * | 2019-11-28 | 2021-05-28 | 中车株洲电力机车研究所有限公司 | Steering control method and device for following shaft |
| CN112849225B (en) * | 2019-11-28 | 2022-12-23 | 中车株洲电力机车研究所有限公司 | Bidirectional running control method and device for train |
| CN111351673B (en) * | 2020-04-07 | 2020-10-23 | 重庆科技学院 | A kind of measuring method and measuring device of wheel steering angle of intelligent rail train |
| CN113525214B (en) * | 2020-04-16 | 2022-05-06 | 中车株洲电力机车研究所有限公司 | Rescue method for multi-marshalling vehicle and rescue vehicle |
| CN111661048B (en) * | 2020-06-10 | 2023-04-07 | 中车株洲电力机车有限公司 | Multi-articulated vehicle and track following control method and system thereof |
| CN113147897B (en) * | 2021-05-24 | 2022-08-23 | 清华大学 | Method and system for controlling superposition of automobile and train tracks |
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