基于摇头角的独立旋转车轮主动导向控制

Active guidance control of independently rotating wheels based on yaw angle

独立旋转车轮是实现100%低地板有轨电车的关键技术,但是其导向能力较差,严重影响车辆的安全运行。文章在牵引电机导向型独立旋转车轮动力学方程的基础上,提出了基于摇头角的主动导向控制策略,并通过机电耦合仿真模型进行了验证。结果显示该控制策略可有效减小车轮横向位移和摇头角,保证车辆导向功能的实现。

Independently rotating wheel is the key technology to realize 100% low-floor tram,but its poor guidance ability seriously affects the safe operation of the tram.On the basis of the dynamic equation of an independent rotating wheel guided by a traction motor,this paper proposes an active guidance control strategy based on yaw angle,and verifies it through an electromechanical coupling simulation model.The results show that this control strategy can efectively reduce wheel lateral displacement and yaw angle,and ensure the implementation of vehicle guidance function.