一种基于独立轮对车辆主动导向控制方案的可行性研究

Feasibility Study of an Active Guidance Control Scheme for Vehicles Based on Independent Wheelset

世界各国轨道交通行业竟相开发对环境、线路和乘客“友好”的高速列车,兼备左右车轮独立旋转和可取消公共车轴特点的独立轮对为这种设计理念提供了新的解决方案。独立轮对车辆理论上可完美通过曲线,同时可兼顾乘坐便利性和经济友好性等特点。但独立轮对自身结构特点导致其缺乏导向能力。因此,文章研究了独立轮对导向控制的发展现状,分析了独立轮对导向控制的局限性和可行性,并在独立轮对两轴转向架车辆的基础上,提出了一种基于左右车轮转速差的导向控制方案。该方案采用经典PID控制方法,根据不同的车速、缓和曲线长度和曲线半径优选控制增益。此外,由于车辆结构限制,独立轮对两轴转向架车辆的理论控制目标与实际结果存在偏差。文章在优选控制增益的基础上,对控制目标进行了优化。结果表明,采用优选的控制增益和控制目标可为独立轮对两轴转向架车辆提供良好的导向控制效果。

The rail transit industries all over the world are competing to develop high-speed trains that are"friendly"to the environment,lines and passengers,and the independent wheelset,which combines independent rotation of the left and right wheels and eliminates the need for a common axle,provides a new solution to this design concept.In theory,independent wheelset vehicles can nogotiate perfectly,and at the same time can combine ride convenience and economy friendliness.However,the structural characteristics of independent wheelsets lead to their lack of guiding ability.Therefore,this paper studies the development status of independent wheelset guidance control,analyzes the limitations and feasibility of independent wheelset guidance control,and puts forward a guidance control scheme based on the rotation speed difference between left and right wheels on the basis of independent wheelset two-axle bogie vehicles.The scheme adopts the classical PID control method to optimize the control gain according to different vehicle speeds,transition curve lengths and curve radii.In addition,due to the limitation of vehicle structure,the theoretical control objectives of two-axle bogie vehicles with independent wheelsets are deviated from the actual results.The article optimizes the control objective on the basis of the preferred control gain.The results show that the optimal control gain and control target can provide a good guidance control effect for two-axle bogie vehicles with independent wheelsets.