独立轮对差速主动导向控制策略研究

doi:10.3901/JME.260056

摘要/Abstract

摘要： 由于独立轮对两侧车轮旋转运动的解耦，其自动复位能力弱于传统刚性轮对。为改善独立轮对的自动复中能力，提出在独立轮对基础上加装电磁差速耦合器，作为独立轮对主动导向控制的作动器控制两侧车轮转速差，并阐述独立轮差速主动导向控制的可行性。基于一阶光滑饱和函数的双幂次趋近律，设计出差速主动导向控制策略以控制独立轮对两侧车轮的转速差，实现独立轮对的主动导向，并根据Lyapunov理论证明和数值仿真验证了差速主动导向控制的有效性。利用数值仿真分析，探究了差速主动导向控制的布置方案以及与独立轮对车辆一系悬挂定位刚度适应性方案。结果表明，导向轮对配置差速主动导向控制，非导向轮对为无控制的独立轮对的布置方案，可以获得更优的曲线通过性能，车轮冲角减小11.8%、轮轴横向力减小23.5%、脱轨系数减小34.9%、轮重减载率降低25.8%以及磨耗数减小4.7%；给出一系悬挂定位刚度对主动导向控制的独立轮对车辆非线性临界速度、曲线通过性能的影响规律。

关键词: 独立轮对, 主动导向控制, 电磁差速耦合器, 滑模控制, 双幂次趋近律, 曲线通过性能

Abstract: The automatic reset ability of independent rotating wheels(IRWs) is inferior to that of traditional rigid wheelsets. The scheme to control the speed difference between the wheels on both sides by installing an electromagnetic differential coupler as an actuator for the active guidance control of the IRWs is proposed to improve its reset ability. The feasibility of independent wheel differential active guidance control is elucidated. Based on the double power approach law of the first-order smooth saturation function, the differential active steering control(DASC) is designed to control the speed difference between the wheels on both sides of IRWs. The validity of DASC is verified by Lyapunov theory and numerical simulation. The numerical simulation method is used to research the layout scheme of DASC and the adaptability scheme with the primary suspension stiffness of IRWs vehicle. The results demonstrated that better curve negotiation performance can be obtained when the guide wheelset is equipped with differential active steering control and the non-guide wheelset is kept as an independent wheelset. The wheel yaw angle is reduced by 11.8%, The lateral force on the axle is reduced by 23.5%, the derailment coefficient is reduced by 34.9%, the wheel load reduction rate is decreased by 25.8%, and the wear number is reduced by 4.7%. The influence of suspension stiffness on the nonlinear critical speed and curve negotiation performance of independent wheelset vehicles for active guidance control has been obtained.

Key words: independent rotating wheels, active guidance control, electromagnetic differential coupler, sliding mode control, double power reaching law, steering performance

中图分类号:

U284

李涛涛, 凌亮, 刘建新. 独立轮对差速主动导向控制策略研究[J]. 机械工程学报, 2026, 62(2): 301-312.

LI Taotao, LING Liang, LIU Jianxin. Research on Control Strategy of Differential Active Steering Control of Independent Rotating Wheels[J]. Journal of Mechanical Engineering, 2026, 62(2): 301-312.

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