独立旋转轮对轨道车辆自适应导向控制研究

doi:10.3901/JME.2022.04.232

机械工程学报 ›› 2022, Vol. 58 ›› Issue (4): 232-239.doi: 10.3901/JME.2022.04.232

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独立旋转轮对轨道车辆自适应导向控制研究

张济民, 宗振海, 周和超, 寇杰

同济大学铁道与城市轨道交通研究院上海 201804

收稿日期:2021-02-25 修回日期:2021-09-20 出版日期:2022-02-20 发布日期:2022-04-30
通讯作者: 寇杰(通信作者),男,1994年出生,博士。主要研究方向为车辆系统动力学。E-mail:838911823@qq.com
作者简介:张济民,男,1969年出生,博士,教授。主要研究方向为车辆系统动力学及主动控制。E-mail:zjm397a@163.com

Research on Adaptive Steering Control of Independent Rotating Wheelset

ZHANG Jimin, ZONG Zhenhai, ZHOU Hechao, KOU Jie

Institute of Railway and Urban Rail Transit, Tongji University, Shanghai 201804

Received:2021-02-25 Revised:2021-09-20 Online:2022-02-20 Published:2022-04-30

摘要/Abstract

摘要： 独立旋转轮对轨道车辆由于左右车轮解除耦合作用，失去了传统刚性轮对所具有的自动复位能力。为改善独立旋转轮对的导向性能，提出一种独立旋转轮对车辆的自适应导向控制方法。该方法可以自动识别车辆是否处于曲线段并且计算曲线半径的大小，针对不同线路状态采取适合的控制策略，实现独立旋转轮轨轨道车辆的运行的自适应控制。在加入自适应控制后，独立旋转车辆恢复了纵向蠕滑力和直线复位对中能力，使独立旋转轮对具备更加优良的导向性能。总体来看，自适应控制下的车辆的曲线导向性能与安全性能均优于独立旋转轮对车辆；在小半径曲线上，自适应控制车辆具备比传统刚性轮对车辆更加优良的曲线导向性能以及安全性能；在曲线半径较大时，由于纵向蠕滑力不足，自适应控制车辆的导向性能要弱于传统刚性轮对车辆。

关键词: 独立旋转轮对, 自适应控制, 复位性能, 导向性能, 安全性

Abstract: The traditional wheelset has lost the ability of automatic reset due to the independent rotation of the left and right wheels. An adaptive steering control method is presented for independent rotating wheelset vehicles to improve steering ability. Adaptive steering control can automatically identify whether the vehicle is in a curve segment and calculate the radius of the curve. Suitable control strategies are used for different line states. After the adaptive control is added, the longitudinal creep force and the ability of linear reset alignment are restored, which makes the independent rotating wheelset have better steering performance. In general, the curve guidance performance and safety performance of the adaptive vehicle with control is better than that of the independent rotating wheelset vehicle; on the small radius curve, the adaptive vehicle has better curve guidance performance and safety performance than the traditional rigid wheelset; when the half diameter of the curve is larger, the performance of the independent rotating wheelset with control is better because of the smaller longitudinal creep force It is weaker than the traditional rigid wheelset.

Key words: independent rotating wheelset, adaptive control, reset performance, steering performance, safety

中图分类号:

U270

张济民, 宗振海, 周和超, 寇杰. 独立旋转轮对轨道车辆自适应导向控制研究[J]. 机械工程学报, 2022, 58(4): 232-239.

ZHANG Jimin, ZONG Zhenhai, ZHOU Hechao, KOU Jie. Research on Adaptive Steering Control of Independent Rotating Wheelset[J]. Journal of Mechanical Engineering, 2022, 58(4): 232-239.

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独立旋转轮对轨道车辆自适应导向控制研究

Research on Adaptive Steering Control of Independent Rotating Wheelset

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