• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (4): 154-163.doi: 10.3901/JME.2019.04.154

• 运载工程 • 上一篇    下一篇

汽车列车多轴转向控制方法及仿真研究

孙帮成1,2, 刘志明1, 崔涛3, 李明高3, 李红4, 王文军4   

  1. 1. 北京交通大学机械与电子控制工程学院 北京 100044;
    2. 中车工业研究院有限公司 北京 100067;
    3. 中车唐山机车车辆有限公司 唐山 063035;
    4. 清华大学汽车工程系 北京 100084
  • 收稿日期:2018-05-29 修回日期:2018-12-20 出版日期:2019-02-20 发布日期:2019-02-20
  • 通讯作者: 李红(通信作者),女,1984年出生,博士。主要研究方向为车辆智能控制。E-mail:lihong3729@163
  • 作者简介:孙帮成,男,1963年出生,博士研究生,教授级高级工程师。主要研究方向为机车车辆。E-mail:xqsbc@163.com;刘志明,男,1966年出生,教授。主要研究方向为结构疲劳与可靠性。E-mail:zhmliu1@bjtu.edu.cn;崔涛,男,1978年出生,博士。主要研究方向为机车车辆。E-mail:cuitao@tangche.com;李明高,男,1978年出生,博士。主要研究方向为机车车辆。E-mail:liminggao@tangche.com;王文军,男,1978年,博士,副教授。主要研究方向为人机工程、车辆动力学。E-mail:wangxiaowenjun@tsinghua.edu.cn
  • 基金资助:
    国家自然科学基金资助项目(51575294)

Research on Multi-axis Steering Control Method and Simulation of Train-like Vehicle

SUN Bangcheng1,2, LIU Zhiming1, CUI Tao3, LI Minggao3, LI Hong4, WANG Wenjun4   

  1. 1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University Beijing 100044;
    2. CRRC Research Institue Co., Ltd., Beijing 100067;
    3. CRRC TANGSHAN CO., Ltd., Tangshan 063035;
    4. Department of Automotive Engineering, Tsinghua University Beijing 100084
  • Received:2018-05-29 Revised:2018-12-20 Online:2019-02-20 Published:2019-02-20

摘要: 汽车列车具有容量大、单程车流运送率高等优点,可有效解决现有城市交通拥挤问题,以满足城市居民因工作与生活出行的乘车需求。但随着汽车列车长度的增加,车辆运动灵活度下降,汽车列车的操作难度增大,因此对汽车列车的转向控制方法进行研究。基于虚位移和虚功原理建立汽车列车的一般动力学方程,提出一种适用于该车型的多轴协同转向控制方法,并构建Lyapunov函数,采用Lyapunov直接法证明汽车列车能够沿目标路线行驶。以3车厢4车轴的汽车列车为例,建立仿真模型,分别对阶跃路线、正弦路线进行跟踪控制,仿真结果证明提出的汽车列车多轴转向控制方法,能够控制汽车列车跟踪多种目标路线行驶。

关键词: 动力学系统, 多车厢, 多车轴, 汽车列车, 循迹控制

Abstract: Train-like vehicle, with advantages of large capacity and high one-way traffic flow conveying rate etc., can effectively solve the problem of traffic jam in cities, and meet the travel requirements of urban resident on working and living trips. However, due to the increase of the length of the train-like vehicle, the flexibility of movement decreases, which increases the difficulty of the maneuverability of the train-like vehicle. Therefore, the steering control method of the train-like vehicle is studied in this paper. Based on the principle of the virtual displacement and the virtual work, this paper establishes a general dynamic equation of the train-like vehicle, then proposes a multi-axis coordinated steering control law for the car model, and constructs a Lyapunov function. The Lyapunov direct method is used to prove that the train-like vehicle can travel along the target route. Finally, a simulation model of train-like vehicle with 3-body and 4-axle is established to track the step route and the sinusoidal route respectively. The simulation results show that the proposed multi-axis steering control method of train-like vehicle can control the train-like vehicle to track multiple target routes.

Key words: articulated vehicle, dynamic system, multi-axle, multi-body, path-tracking control

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