悬浮跨接走行模式下无轨列车的几何循迹策略

Geometric Tracking Strategy of ART Tram in Suspension Straddle Running Mode

针对悬浮跨接走行模式下无轨列车的循迹控制问题,提出了一种基于车辆转向运动的几何循迹控制策略,即头车前轴采用驾驶员模型控制,其余后轴采用基于几何循迹算法的跟随控制方法。推导了车辆的单轨运动学模型、稳态几何循迹算法和瞬态几何循迹算法的后轴车轮转向角表达式,并通过Simulink软件进行数值仿真,验证了所提几何循迹策略的准确性。研究结果表明:采用稳态几何循迹算法和瞬态几何循迹算法均可实现列车的循迹控制,瞬态几何循迹算法的循迹控制性能略优于稳态几何循迹算法;所提算法可以优化悬浮跨接走行模式下无轨列车的循迹控制策略,提高列车的运行稳定性。

Targeting the tracking control problem of ART(autonomous rapid rail transit)tram in suspension straddle running mode,a geometric tracking control strategy based on vehicle steering motion is proposed,that the front axle of the first carriage is controlled by driver′s model and the other rear axles are controlled by a following control method based on geometric tracking algorithm.The vehicle monorail kinematics model,steady-state geometric tracking algorithm and transient geometric tracking algorithm of rear axle wheel steering angle expression are derived,and the accuracy of the proposed geometric tracking strategy is verified by Simulink numerical simulation.Research results show that both the steady-state geometric tracking algorithm and the transient geometric tracking algorithm can realize train tracking control,but the latter performs slightly better than the former.The proposed algorithm can optimize the tracking control strategy of ART tram in suspension straddle running mode,elevating the train operation stability.