基于圆曲线最小通过宽度的无轨电车轨迹跟随点选择

Selection of Visual Rail Train Trajectory Following Points Based on Minimum Passing Width on Circular Curves

[目的]研究某型三模块虚拟轨道列车轨迹跟随点的选择对车辆道路通过宽度的影响,为循迹控制跟随点的选择提供理论依据。[方法]推导稳态圆曲线车辆的轨迹左右侧偏差量和通过宽度计算公式,讨论满足偏差量相等和最小通过宽度的车辆位姿条件;建立车辆圆曲线通过模型,仿真分析车辆在不同跟随点工况下的曲线通过性能。[结果及结论]多编组虚拟轨道列车的道路通过宽度是衡量车辆通过性的重要指标;选择车辆铰接点为循迹控制轨迹跟随点,可使车辆的通过宽度指标最优。

[Objective]The impact of selecting trajectory following points for a type of three-module visual rail train on vehicle road passing width is studied,providing theoretical basis for the choice of trajectory control points.[Method]The calculation formulas for the lateral deviation between left and right sides and the passing width of vehicle on steady-state circular curve are derived,the vehicle posture conditions that meet the equal deviation and minimum passing width are discussed.Then a vehicle circular curve passing model is established and the curve passing performance of the vehicle under different following point conditions is simulated and analyzed.[Result&Conclusion]The road passing width is an important indicator for measuring vehicle passing ability of multi-formation ART tram.Selecting the vehicle articulation point as trajectory following point in path-following control can optimize the passing width indicator for vehicle.