一种汽车列车结构及其路径跟踪控制方法

New Structure for Train-like Vehicle and Its Path Tracking Method

为解决现有城市交通拥挤问题,满足城市居民生活及工作的乘车需求,综合轨道车辆单程运输量大和传统铰接车辆基础建设成本低的特点,提出一种多铰接式汽车列车。该汽车列车可灵活编组,具有大容量、单程运输效率高、因结构纵向对称且采用轮速差速运动控制、行驶灵活度高等优点。研究适用于该车型的路径跟踪控制方法,采用非时间因素的控制策略,设计汽车列车各轴轮速控制律,并构建李雅普诺夫函数,采用李雅普诺夫直接法证明路径跟踪偏差逐渐递减,即汽车列车能够沿目标路径行驶,且该方法不受车厢数量限制,可使汽车列车灵活编组。最后,建立多铰接式汽车列车路径跟踪仿真模型,分别对直线路径、圆弧路径、正弦路径进行跟踪控制,仿真结果证明采用非时间参考的跟踪控制方法,能够控制列车对多种路径跟踪。

In order to solve the urban traffic congestion problem and meet travel demand from city residents in daily life, characteristics of rail vehicle transportation capacity and low infrastructure cost of traditional articulated vehicle are considered, and then a train-like vehicle with multi-articulated carriages is proposed. The train-like vehicle with multi-articulated carriages has marshalling capability and large capacity making the transportation efficiency high, moreover, the longitudinal symmetry structure and the motion control method based on differential wheel speed make the driving flexibility of the articulated vehicle high. Path-tacking method for articulated vehicle is studied, and control strategy based on non-time factor is proposed to design the speed law of the train-like vehicle’s driving wheels. Lyapunov function is constructed, and then Lyapunov direct method is utilized to prove that the path-tracking errors decreases over time, i.e., the train-like vehicle with multi-articulated carriages can run along the path, moreover, this method has no limits on the number of the carriers of the train-like vehicle, which guarantees the flexible marshalling of the train-like vehicle. Simulation model of train-like vehicle with multi-carriage is established, and path-tracking simulations with straight-line path, circular path and sinusoidal path are done. The simulation results show that the tracking control method based on non-time factor is able to control the train-like vehicle track many kind of paths.