CN106347456A - Control method of high-speed stability of rubber wheel train - Google Patents
Control method of high-speed stability of rubber wheel train Download PDFInfo
- Publication number
- CN106347456A CN106347456A CN201610910618.0A CN201610910618A CN106347456A CN 106347456 A CN106347456 A CN 106347456A CN 201610910618 A CN201610910618 A CN 201610910618A CN 106347456 A CN106347456 A CN 106347456A
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- compartment
- steering angle
- rubber tire
- control method
- lateral acceleration
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
- B62D12/02—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames for vehicles operating in tandem
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Tires In General (AREA)
Abstract
The invention discloses a control method of high-speed stability of a rubber wheel train. The control method of the high-speed stability of the rubber wheel train comprises the following steps: S1, obtaining lateral acceleration of each carriage of the rubber wheel train; and S2, successively determining whether the lateral acceleration of the carriage is greater than a preset acceleration threshold from the first carriage to the last carriage, gradually reducing steering angle of a rear shaft of the carriage via PID control if the lateral acceleration of the carriage is greater than the preset acceleration threshold until the lateral acceleration of the carriage is less than or equal to the preset acceleration threshold, and not adjusting if the lateral acceleration of the carriage is not greater than the preset acceleration threshold. The control method of the high-speed stability of the rubber wheel train has the advantages of simple algorithm, rapid adjustment speed, capability of effectively improving the stability during high-speed running of the train and capability of reducing deterioration of contact between a tire and the ground caused by excessive angle adjustment.
Description
Technical field
The present invention relates to a kind of rubber tire Train Control field, more particularly, to a kind of rubber tire train high stability controlling party
Method.
Background technology
Combine the rubber tire rail traffic vehicles transboundary of the advantage of fast public traffic system brt and modern tram in recent years
It is increasingly becoming one of traffic system solution of city medium-heavy road traffic.Wherein monorail traffic system, rubber tire subway (apm line),
Rubber tire tramcar (the limited rubber tire guide rail electric car in translohf, four directions, the glt of Pang Badi) adopts mechanical guide mode.And
More meet following unpiloted trend using the electronics guidance mode of path identifying system plus track following control system, typical case
Represent the autotram of the phileas having the production of Dutch vdl company and German fraunhofe ivi Research Institute.phileas
System commercialized running, and introduced, innovate again by Korea S's railway Technological research, by burying bar magnet on road surface,
Detect the laterally offset amount that vehicle is with respect to bar magnet simultaneously, then laterally offset is eliminated by closed loop control holoaxial steering
Mode to realize track model- following control, there are automatic, semi-automatic, manual three kinds of driving models.Autotram system not yet business
Industryization is run, and inventor proposes two kinds of track follow-up control methods according to version difference, is wherein based on navigation and obtains car
Exact position calculates each Shaft angle in combination with the double freedom model simplifying and can realize track model- following control, based on vehicle
The control strategy of kinematical theory Ackermam law need to be only that steering wheel angle can achieve that control is followed in track according to driver instruction
System.The studies above, just for compared with the kinematics model under low velocity, does not consider dynamicss during the higher speed of vehicle at present,
And vehicle high-speed is possible to dangerous working condition unstability when turning.
Lateral acceleration is an important indicator of lateral vehicle high stability, and carries out in a lot of relevant criterion
Illustrate there is regulation to its limit value simultaneously.For have holoaxial turn to, track follow function rubber tire low-floor intelligent track row
Car is it is necessary to design a kind of high stability control method, by being controlled to holoaxial steering, by lateral acceleration control
System, within limit value, has reached stability requirement.
Content of the invention
The technical problem to be solved in the present invention is that the technical problem existing for prior art, and the present invention provides one
Kind of algorithm is simple, it is fast to regulate the speed, can effectively lift stability during train high-speed cruising, can also reduce and adjust because of excessive angle
Save the rubber tire train high stability control method that the contact between the tire leading to and ground deteriorates.
For solving above-mentioned technical problem, technical scheme proposed by the present invention is: a kind of rubber tire train high stability controls
Method, comprises the steps:
S1. obtain the lateral acceleration in each compartment of rubber tire train；
S2. start to judge to final section compartment whether the lateral acceleration in this compartment is more than successively from first segment compartment
Default acceleration limit value, is to control the steering angle progressively adjusting this section compartment rear axle by pid, lateral until this compartment
Accekeration is less than or equal to default acceleration limit value, is not otherwise adjusted.
As a further improvement on the present invention, described lateral acceleration is obtained by lateral acceleration sensor.
As a further improvement on the present invention, control progressively to adjust by pid described in described step s2 and reduce this section car
The steering angle of railway carriage or compartment rear axle, until the side acceleration values in this compartment are less than or equal to the concrete steps bag of default acceleration limit value
Include:
S2.1. reduce the steering angle of this section compartment rear axle with default steering angle adjustment amount；
S2.2. judge whether the lateral acceleration in this section compartment current is more than default acceleration limit value, be to jump to
Step s2.1, otherwise jumps to step s2.3；
S2.3. terminate to adjust.
As a further improvement on the present invention, when the first segment compartment that this section compartment described is not rubber tire train, described
Step s2.1a is also included, according to turning of this compartment and previous section vehicle hinge angle and this section compartment rear axle after step s2.1
To angle, the steering angle of this section compartment front axle of self-adaptative adjustment.
As a further improvement on the present invention, described default steering angle adjustment amount is 0.1 degree.
Compared with prior art, it is an advantage of the current invention that:
Whether the 1st, the rubber tire train high stability control method of the present invention is big by the lateral acceleration that judges each compartment
In default acceleration limit value, respectively the steering angle in each compartment is carried out at a high speed so that the lateral acceleration in each compartment is quickly extensive
In multiple extremely default acceleration limits, algorithm is simple, it is fast to regulate the speed, and can effectively be lifted steady during train high-speed cruising
Qualitative, the rubber tire train that can also reduce the contact deterioration between the tire because excessive angular adjustment leads to and ground is stablized at a high speed
Property control method.
2nd, the rubber tire train high stability control method of the present invention, after usage, can effectively improve rubber tire train
Operation stability, effectively improve riding comfort and safety.
Brief description
Fig. 1 is rubber tire train body structure schematic diagram.
Fig. 2 is simply for the rubber tire train model each axletree steering angle schematic diagram after " bicycle model ".
Fig. 3 is specific embodiment of the invention schematic flow sheet.
Fig. 4 is specific embodiment of the invention control principle schematic diagram.
Specific embodiment
Below in conjunction with Figure of description and concrete preferred embodiment, the invention will be further described, but not therefore and
Limit the scope of the invention.
The rubber tire train high stability control method of the present invention, is primarily adapted for use in the rubber tire train of radial type, as Fig. 1 institute
Show, save modularity motor-car including a first tail two, and the modularity trailer being hinged between two section modularity motor-cars, modularity is dragged
The quantity of car can arbitrarily be organized into groups, and has two way ability.The present embodiment high speed refers to that speed per hour is more than 45km/h.
In the present embodiment, in order to the rubber tire train high stability control method of the present invention is more easily described, by glue
Wheel train is reduced to " bicycle model " and is described, as shown in Fig. 2 delta1, delta2, delta3, delta4 ... are rubber tire
The steering angle of each axletree of train, wherein, delta1 is the steering angle of first segment compartment front axle (i.e. first axle), and delta2 is first
The steering angle of section compartment rear axle (i.e. the second axle), delta3 is the steering angle of second section compartment front axle (i.e. the 3rd axle), delta4
Steering angle for second section compartment rear axle (i.e. the second axle)；G1, g2 ..., gn is the pin joint in each section compartment；Beta1 is first
The splice angle of individual pin joint g1.
As shown in figure 3, the rubber tire train high stability control method of the present embodiment, comprise the steps: that s1. obtains glue
The lateral acceleration in the wheel each compartment of train；S2. start to final section compartment from first segment compartment, judge the side in this compartment successively
Whether it is more than default acceleration limit value to acceleration, be that the steering angle progressively adjusting this section compartment rear axle is controlled by pid,
Until the side acceleration values in this compartment are less than or equal to default acceleration limit value, otherwise it is not adjusted.Lateral acceleration is led to
Cross lateral acceleration sensor to obtain.Certainly, lateral acceleration can also obtain car by other sensors, such as gyroscope etc.
The kinematic parameter in railway carriage or compartment, and obtain lateral acceleration by calculating.
In the present embodiment, as shown in figure 4, control the steering progressively adjusting this section compartment rear axle in step s2 by pid
Angle, until the concrete steps that the side acceleration values in this compartment are less than or equal to default acceleration limit value include: s2.1. is with default
Steering angle adjustment amount reduce the steering angle of this section compartment rear axle；S2.2. the lateral acceleration in judgement this section compartment current is
No more than default acceleration limit value, be to jump to step s2.1, otherwise jump to step s2.3；S2.3. terminate to adjust.?
In the present embodiment, default steering angle adjustment amount is 0.1 degree, it should be noted that the concrete numerical value of steering angle adjustment amount can root
According to needing flexibly setting it is not limited to set in the present embodiment 0.1 degree.
In the present embodiment, the steering angle of each axletree of rubber tire train includes resistance to steering angle to the left and to the right, in steering angle
In the presence of, train can produce centrifugal action, thus producing lateral acceleration to the right or to the left.For convenience of description, at this
In embodiment, the steering angle of rubber tire train each axle when straight trip does not turn to is zero degree, when rubber tire train turns to, no matter turns to
Axle is to turn to the left or turn to the right, is on the occasion of such as, (adjusting in current time all with the steering angle value of current time
Initial time), the lateral acceleration of rubber tire train is more than default acceleration limit value, and now the steering angle of rear axle is to turn right
10 degree, that is, now with turn to the right be on the occasion of.Pid control is carried out to the steering angle of rear axle by the method for the present invention, progressively subtracts
The steering angle of little rear axle, and in actual motion state, particularly in rubber tire train high-speed cruising state, when the steering of rear axle
When angle adjusts to 0 degree, lateral acceleration still can not be made to be less than or equal to default acceleration limit value, accordingly, it would be desirable to by rear axle
Steering angle adjusts to turning left, and now, to turn to as negative value to the left, that is, now the value of the steering angle of rear axle is negative value, this kind of
During state, continue to reduce rear axle steering angle as increase rear axle steering angle to the left to the right.Same reason, in current time
(initial time adjusting), the steering angle of rear axle be to the left when, be on the occasion of when steering angle adjusts to negative with steering angle to the left
During value, that is, steering angle adjusts to turning right.In sum, in the present embodiment, to be broadly described with the steering angle reducing rear axle
To the left with two states to the right under adjustment situation.
In the present embodiment, the lateral acceleration of the first segment car being obtained by sensor is a1, default acceleration limit
It is worth for amax, when the lateral acceleration of first segment car is a1It is a more than default acceleration limit valuemaxWhen, then to first segment compartment
The current steering angle of rear axle is progressively adjusted by pid method, and the adjustment amount adjusting every time is 0.1 degree, by progressively reducing
The steering angle of rear axle is so that the lateral acceleration in first segment compartment is recovered to the level less than or equal to default acceleration limit value.
In rubber tire train, the other each section compartment in addition to first segment compartment, is to control respectively according to certain track follower method
The steering angle of section compartment rear axle, and by the adaptive steering angle controlling front axle, thus realizing the course changing control to compartment.When
When in rubber tire train, the other each lateral acceleration saving compartment in addition to first segment compartment is more than default acceleration limit value, then need
The steering angle of this compartment rear axle is adjusted.In the present embodiment, equally this compartment rear axle is progressively adjusted using pid method
Steering angle, the adjustment amount adjusting every time is 0.1 degree, by progressively reduce rear axle steering angle so that this section compartment lateral
Acceleration recovers to the level less than or equal to default acceleration limit value.
In the present embodiment, for the non-cephalomere compartment of hinge wheel train, the operation angle state in this compartment is by this car
The hinge angle of the pin joint in railway carriage or compartment and previous section compartment, and the steering angle of the rear axle in this compartment to be determining, in hinge angle and
In the case of the steering angle of rear axle is fixed, the running status in this compartment also has determined that.But in order to reduce this pin joint
Stress, needs to carry out accommodation to the steering angle of the front axle in this compartment.Therefore, in the present embodiment, when this section compartment not
Be rubber tire train first segment compartment when, also include step s2.1a after step s2.1, according to this compartment with previous section vehicle hinge
Connect the steering angle of angle and this section compartment rear axle, the steering angle of this section compartment front axle of self-adaptative adjustment.In the present embodiment,
The steering angle of each axletree of rubber tire train is obtained by steering angle sensor, or straight by the steering controller of each axletree of rubber tire train
Connect output.
Above-mentioned simply presently preferred embodiments of the present invention, not makees any pro forma restriction to the present invention.Although the present invention
Disclosed above with preferred embodiment, but it is not limited to the present invention.Therefore, every without departing from technical solution of the present invention
Content, according to the technology of the present invention essence to any simple modification made for any of the above embodiments, equivalent variations and modification, all should fall
In the range of technical solution of the present invention protection.
Claims (5)
1. a kind of rubber tire train high stability control method is it is characterised in that comprise the steps:
S1. obtain the lateral acceleration in each compartment of rubber tire train；
S2. start to judge the lateral acceleration in this compartment whether more than default successively to final section compartment from first segment compartment
Acceleration limit value, be to be controlled by pid and progressively adjust the steering angle reducing this section compartment rear axle, lateral until this compartment
Accekeration is less than or equal to default acceleration limit value, is not otherwise adjusted.
2. rubber tire train high stability control method according to claim 1 it is characterised in that: described lateral acceleration
Obtained by lateral acceleration sensor.
3. rubber tire train high stability control method according to claim 1 and 2 it is characterised in that: described step s2
Described in by pid control progressively adjust reduce this section compartment rear axle steering angle, until the side acceleration values in this compartment are little
Include in the concrete steps equal to default acceleration limit value:
S2.1. reduce the steering angle of this section compartment rear axle with default steering angle adjustment amount；
S2.2. judge whether the lateral acceleration in this section compartment current is more than default acceleration limit value, be to jump to step
S2.1, otherwise jumps to step s2.3；
S2.3. terminate to adjust.
4. rubber tire train high stability control method according to claim 3 it is characterised in that: when this section compartment described
Be not rubber tire train first segment compartment when, also include step s2.1a after described step s2.1, according to this compartment and previous section
Vehicle hinge angle and the steering angle of this section compartment rear axle, the steering angle of this section compartment front axle of self-adaptative adjustment.
5. rubber tire train high stability control method according to claim 4 it is characterised in that: described default steering
Angle adjustment amount is 0.1 degree.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610910618.0A CN106347456A (en) | 2016-10-19 | 2016-10-19 | Control method of high-speed stability of rubber wheel train |
| PCT/CN2017/106046 WO2018072648A1 (en) | 2016-10-19 | 2017-10-13 | Method for controlling stability of rubber-tired train at high speed |
| NZ752013A NZ752013A (en) | 2016-10-19 | 2017-10-13 | Method for controlling stability of rubber-tired train at high speed |
| PH12019500786A PH12019500786A1 (en) | 2016-10-19 | 2019-04-11 | Method for controlling stability of rubber-tyred train at high speed |
| CL2019001025A CL2019001025A1 (en) | 2016-10-19 | 2019-04-15 | Method of controlling the stability of a high-speed train with rubber tires. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610910618.0A CN106347456A (en) | 2016-10-19 | 2016-10-19 | Control method of high-speed stability of rubber wheel train |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106347456A true CN106347456A (en) | 2017-01-25 |
Family
ID=57863347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610910618.0A Pending CN106347456A (en) | 2016-10-19 | 2016-10-19 | Control method of high-speed stability of rubber wheel train |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106347456A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018072648A1 (en) * | 2016-10-19 | 2018-04-26 | 中车株洲电力机车研究所有限公司 | Method for controlling stability of rubber-tired train at high speed |
| CN107963123A (en) * | 2016-10-19 | 2018-04-27 | 中车株洲电力机车研究所有限公司 | A kind of articulated train high stability control method |
| CN110696913A (en) * | 2019-10-28 | 2020-01-17 | 中车株洲电力机车有限公司 | Bidirectional-driving multi-marshalling electric car and multi-shaft all-wheel steering control method and system thereof |
| CN112083649A (en) * | 2019-06-14 | 2020-12-15 | 株洲中车时代电气股份有限公司 | Constant speed control method, device and equipment for electric locomotive |
| CN112284243A (en) * | 2019-07-25 | 2021-01-29 | 中车株洲电力机车研究所有限公司 | Method for adjusting steering system sensor of multi-marshalling rubber-tyred electric car |
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| US20060129298A1 (en) * | 2004-12-14 | 2006-06-15 | Masayoshi Takeda | Vehicular rollover prevention control device |
| US20130191000A1 (en) * | 2012-01-17 | 2013-07-25 | GM Global Technology Operations LLC | Stabilization of a vehicle combination |
| CN103958313A (en) * | 2011-10-31 | 2014-07-30 | 沃尔沃拉斯特瓦格纳公司 | Method and arrangement for vehicle stabilization |
| CN103987603A (en) * | 2011-10-31 | 2014-08-13 | 沃尔沃拉斯特瓦格纳公司 | Method and arrangement for vehicle stabilization |
| CN105936273A (en) * | 2016-05-31 | 2016-09-14 | 上海理工大学 | Vehicle active torque inter-wheel and inter-axis distribution method |
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| US20060129298A1 (en) * | 2004-12-14 | 2006-06-15 | Masayoshi Takeda | Vehicular rollover prevention control device |
| CN103958313A (en) * | 2011-10-31 | 2014-07-30 | 沃尔沃拉斯特瓦格纳公司 | Method and arrangement for vehicle stabilization |
| CN103987603A (en) * | 2011-10-31 | 2014-08-13 | 沃尔沃拉斯特瓦格纳公司 | Method and arrangement for vehicle stabilization |
| US20130191000A1 (en) * | 2012-01-17 | 2013-07-25 | GM Global Technology Operations LLC | Stabilization of a vehicle combination |
| CN105936273A (en) * | 2016-05-31 | 2016-09-14 | 上海理工大学 | Vehicle active torque inter-wheel and inter-axis distribution method |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018072648A1 (en) * | 2016-10-19 | 2018-04-26 | 中车株洲电力机车研究所有限公司 | Method for controlling stability of rubber-tired train at high speed |
| CN107963123A (en) * | 2016-10-19 | 2018-04-27 | 中车株洲电力机车研究所有限公司 | A kind of articulated train high stability control method |
| CN107963123B (en) * | 2016-10-19 | 2019-11-29 | 中车株洲电力机车研究所有限公司 | A kind of articulated train high stability control method |
| CN112083649A (en) * | 2019-06-14 | 2020-12-15 | 株洲中车时代电气股份有限公司 | Constant speed control method, device and equipment for electric locomotive |
| CN112083649B (en) * | 2019-06-14 | 2022-04-12 | 株洲中车时代电气股份有限公司 | Constant speed control method, device and equipment for electric locomotive |
| CN112284243A (en) * | 2019-07-25 | 2021-01-29 | 中车株洲电力机车研究所有限公司 | Method for adjusting steering system sensor of multi-marshalling rubber-tyred electric car |
| CN112284243B (en) * | 2019-07-25 | 2022-05-27 | 中车株洲电力机车研究所有限公司 | Method for adjusting steering system sensor of multi-marshalling rubber-tyred electric car |
| CN110696913A (en) * | 2019-10-28 | 2020-01-17 | 中车株洲电力机车有限公司 | Bidirectional-driving multi-marshalling electric car and multi-shaft all-wheel steering control method and system thereof |
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Application publication date: 20170125 |
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