城市胶轮导轨车辆电差速控制技术

doi:10.3901/JME.2020.16.147

机械工程学报 ›› 2020, Vol. 56 ›› Issue (16): 147-154.doi: 10.3901/JME.2020.16.147

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城市胶轮导轨车辆电差速控制技术

李浩天, 池茂儒, 梁树林, 刘开成, 贾鹏, 赵昀陇

西南交通大学牵引动力国家重点实验室成都 610031

收稿日期:2019-11-05 修回日期:2020-03-08 出版日期:2020-08-20 发布日期:2020-10-19
通讯作者: 池茂儒(通信作者),男,1973年出生,博士,研究员,博士研究生导师。主要研究方向为车辆系统动力学、城市轻轨车辆设计理论及控制、空轨列车设计理论。E-mail:cmr2000@163.com
作者简介:李浩天,男,1991年出生,博士研究生。主要研究方向为车辆系统动力学、城市轻轨车辆设计理论及控制。E-mail:tpl_lht@163.com
基金资助:
国家重点研发计划（2018YFB1201600）、四川省科技计划（2018JY0557）和牵引动力国家重点实验室自主课题（2018TPL_T04）资助项目。

Electronic Differential Control Method of Urban Guideway Vehicle

LI Haotian, CHI Maoru, LIANG Shulin, LIU Kaicheng, JIA Peng, ZHAO Yunlong

State Key Laboratory of Traction Power, Southwest Jiaotong University, Chengdu 610031

Received:2019-11-05 Revised:2020-03-08 Online:2020-08-20 Published:2020-10-19

摘要/Abstract

摘要： 为提高城市胶轮导轨车辆的电差速导向性能，从运动学角度分析曲线上各车轮转速与曲线半径的关系，推导车辆质心侧偏角和横摆角速度状态观测方程。建立胶轮导轨车辆的动力学模型，提出前后轮转角传递方案。将预设路径作为输入信息，建立线路前馈和转速反馈的闭环控制系统。在50 m半径曲线上，通过SIMAT联合仿真，对比分析胶轮导轨车辆的电差速主动控制和自适应差速的导向性能差异。结果表明，相较于电机自然差速特性，提出的基于转速反馈的电差速控制技术，其导向车轮的稳态冲角、横向力、横向滑移率、磨耗指数分别减小了2%、13%、16%、15%，横摆角速度增益提高了7%；电差速控制既能降低车轮冲角和磨耗，同时还能提高车辆转向的灵敏度。

关键词: 车辆工程, 胶轮导轨车辆, 电差速, 转速反馈, 控制参数, 导向性能

Abstract: To improve the steering performance of the urban guideway vehicle (UGV), the relationship between the wheel rotation speed and the curve radius is analyzed from the kinematics point of view, the observation equations of the centroid sideslip angle and the yaw rate are derived. An electromechanical-dynamical coupling model constructed of the UGV is established and a transmission scheme is proposed between the front and the rear wheels to dominate the yaw angle. The preset route is used as an input information to build a closed-loop control system based on track feedforward and wheel rotation speed feedback information. On the 50 meters radius curve, through the SIMAT co-simulations, the effects of the curving performance with the electronic speed-differential control of the curving performance are investigated by comparison with the UGV in absence of the control system in terms of some steering parameters. The simulation results show that, the proposed electronic differential control method based on the track information and the wheel rotation speed can reduce the attack angle, tyre lateral force, lateral slip, and wear index by 2%, 13%, 16%, 15%, also make the yaw velocity gain increases by 7% comparing with the self-adaption differential vehicle without the control system. The electronic differential control method can not only weaken the conflict between the trye and the road, but also improve the turning flexibility of the vehicle.

Key words: vehicle engineering, urban guideway vehicle(UGV), electronic differential control, rotation rate feedback, speed-differential control parameters, steering performance

中图分类号:

U482

李浩天, 池茂儒, 梁树林, 刘开成, 贾鹏, 赵昀陇. 城市胶轮导轨车辆电差速控制技术[J]. 机械工程学报, 2020, 56(16): 147-154.

LI Haotian, CHI Maoru, LIANG Shulin, LIU Kaicheng, JIA Peng, ZHAO Yunlong. Electronic Differential Control Method of Urban Guideway Vehicle[J]. Journal of Mechanical Engineering, 2020, 56(16): 147-154.

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城市胶轮导轨车辆电差速控制技术

Electronic Differential Control Method of Urban Guideway Vehicle

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