智轨电车多编组铰接动力学建模仿真与验证

Dynamic Modeling of Multi-category Jointing for the Autonomous-rail Rapid Tram and Real Vehicle Validation

智轨电车取消了传统的钢轮钢轨,利用机器视觉并采用胎地耦合跟踪中央虚拟轨迹线的方式对整车运动实现控制。为了迭代优化,降低中央轨迹线跟随控制系统的横向偏差,文章搭建了符合智轨电车胎地耦合及多编组柔性铰接结构特点的35 m列车动力学模型,并通过Matlab/Simulink动力学模型仿真测试验证了该动力学模型能实现智轨电车在老城区的狭窄限界中的快速类轨道行驶和站台小间隙(偏差控制在8~12 cm)的精准进站停车。

Autonomous-rail rapid tram replaces traditional steel wheels with rubber tires,and uses machine vision to track the central virtual track line to control vehicle motion.In order to iteratively optimize and reduce the lateral deviation of the precision lane keeping control system,a 35 m train dynamic model was built in this paper to meet the characteristics of autonomous-rail rapid tram such as tire-ground coupling and multi-group flexible articulating.Through the Matlab/Simulink dynamic model simulation test,it is verified that the dynamic model can show fast track driving of an autonomous-rail rapid tram in a narrow gauge of an old city and precise docking of a small platform gap(the deviation is controlled at 8~12 cm).