Electronic Differential Control Method of Urban Guideway Vehicle

doi:10.3901/JME.2020.16.147

Abstract

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

CLC Number:

U482

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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