虚拟轨道列车循迹控制优化模型与仿真研究

Research on Optimized Model and Simulation of Virtual Orbit Tramcar Tracking Control

对德国弗劳恩霍夫交通和基础设施系统研究所提出的一种三节编组道路车辆后车横向循迹控制模型进行了研究,并提出了一种优化模型,改善了车辆在轨道曲率变化时的循迹效果。为验证优化模型的控制效果,根据其研究的符合虚拟轨道列车特点的双铰接道路客车参数,使用ADAMS软件建立了三节编组的虚拟轨道列车虚拟样机模型,并通过ADAMS二次开发技术将循迹控制模型应用在仿真验证中。仿真结果表明,最大横向偏差小于0.1m,相较于原模型的小于1.0m,降低了一个数量级,明显改善了循迹效果;由于仍然沿用最小化横向铰接力的控制模型,保留了原模型横向铰接力小的优势。

A lateral tracking control model for rear modules of three-module marshalling road vehicle proposed by Fraunhofer Institute for Transportation and Infrastructure Systems IVI(Fraunhofer IVI) in Germany was studied, and an optimized model was proposed to improve the tracking performance when orbital curvature changes. In order to verify the performance of the optimized control model, the virtual prototype model of three-module marshalling virtual orbit tramcar was established by using ADAMS software according to the parameters of double-articulated road bus studied by Fraunhofer IVI, which was in accord with virtual orbit tramcar, and the tracking control model was applied to the simulation through the secondary development technology of ADAMS. The simulation results show that the maximum lateral deviation is less than 0.1 m, which is one order of magnitude lower than that of the original model. Besides, since the control model of minimizing the lateral articulation force is still used, the advantage of small lateral articulation force is retained.