CN105620514B - A kind of rubber tire train track following control system - Google Patents
A kind of rubber tire train track following control system Download PDFInfo
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- CN105620514B CN105620514B CN201410599927.1A CN201410599927A CN105620514B CN 105620514 B CN105620514 B CN 105620514B CN 201410599927 A CN201410599927 A CN 201410599927A CN 105620514 B CN105620514 B CN 105620514B
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Abstract
The invention discloses a kind of rubber tire train track following control system, including：The headstock track following controller being installed on headstock component, pass through the coordinate for gathering the status signal of headstock to obtain at headstock units centre of mass, and the coordinate data of next axle is calculated, the coordinate data of next axle is transferred to the track following controller on next section compartment；The compartment track following controller being installed on compartment component and the tailstock track following controller being installed on tailstock component, the status signal of compartment track following controller and the corresponding compartment of tailstock track following controller collection, then the running orbit of this section compartment axletree is controlled by the coordinate data of the upper section adjacent compartment of communication network transmission reception.The present invention have the advantages that principle it is simple, it is easy to operate, Optimal Control effect can be realized.
Description
Technical field
Present invention relates generally to City Rail Transit System field, refers in particular to a kind of track suitable for virtual rail train
Following control system.
Background technology
City Rail Transit System is the special line public transportation system for having continuous steerable ability, and its feature shows as possessing
Whole piece dedicated track, and row can not be mixed with motor vehicle.(for example no crossroad, its road foundation construction do not set people's row horizontal stroke
Road, the special road of no bicycle and without motor vehicle circuit).Normal conditions, City Rail Transit System are mostly built in underground or height
On bridge formation.Its free-running operation in track special line is realized by using inaccessible pattern.City Rail Transit System can also
Use full-automatic operational mode.In addition, City Rail Transit System is divided into heavy and light-duty two kinds, such as subway and light again
Rail.But the obvious infrastructure construction input of this form is larger.
Modern City Traffic system main composition is subway, tramcar, bus etc., although subway transport capacity is powerful,
But its cost is huge so that it can not extensive use in small and medium-sized cities；Tramcar needs special power system and track to match somebody with somebody
Design is closed, either design and construction cost or maintenance cost are relatively large and are easily limited by running environment；
Traditional bus cost is lower, and very flexible relative to railroad vehicle, can be very square when there is barrier in front
Just barrier of avoiding continues to travel, and when vehicle breaks down, can keep to the side, and does not interfere with other vehicles traveling.But tradition
Bus transport power is few, it will usually increases transport power by be hinged more piece compartment come formed automobile train.Develop vapour in small and medium-sized cities
Car team car substitutes traditional bus, and under the conditions of ensureing truck combination by safety factors such as property and steering behaviours, it is not only
Transport capacity can be improved and cost of transportation 30% or so can be reduced.Although articulated road train car passenger carrying capacity is big,
It is that it is compared with monomer car, maximum difference is the change by property because of the road that length of wagon longthening belt comes, and shows as turning
Curved radius increase, track area shared by turning increase, and easily the other elements of road traffic with side interfere, so that can not be suitable
Profit by, or even deteriorate traffic circulation environment, can not fast and efficiently realize public transportation.
Four-wheel steering technology especially rear-axle steering technology occurs to realize that the all-wheel steering function of automobile provides technology branch
Hold.At present, all-wheel steering technology has obtained ripe application in some vehicles, such as new 7 system of BMW, produces elegant 350GT daily
Etc. vehicle, also it is widely used in the special vehicle such as beach buggy in addition.The further investigation of linear control system is simultaneously applied to certain
A little vehicles, such as BMW " Z22 concept cars ", Toyota Company " Lexus HPX " etc., it is domestic at present for four-wheel steering and linear to turn
Research to control system is also increasingly subject to pay attention to.By using line traffic control holoaxial steering technique, the car of truck combination can be caused
It is controllable to take turns track, can significantly increase the passing through property of truck combination.
But how using line traffic control multi-axle steering technology to realize that the wheel trajectories of rubber tire train are controllable, even ensure to advance
The track coincidence factor of direction wheel, it is necessary to invent a kind of track following control system be used for using line traffic control holoaxial steering automobile
The steering of wheel is controlled on train, to increase the track coincidence factor of rear wheel and front-wheel in direction of advance, reduces and turns to " lubrication groove
Difference ", reduce the influence that " visual dead angles " are brought.
The content of the invention
The technical problem to be solved in the present invention is that：For technical problem existing for prior art, the present invention provides one
Kind principle is simple, a kind of rubber tire train track following control system easy to operate, can realizing Optimal Control effect.
In order to solve the above technical problems, the present invention uses following technical scheme：
A kind of rubber tire train track following control system, including：
The headstock track following controller being installed on headstock component, headstock is obtained by gathering the status signal of headstock
Coordinate at units centre of mass, and the coordinate data of next axle is calculated, the coordinate data of next axle is transferred on next section compartment
Track following controller；
The compartment track following controller being installed on compartment component and the tailstock track being installed on tailstock component follow
The status signal in controller, compartment track following controller and the corresponding compartment of tailstock track following controller collection, then lead to
Cross communication network transmission and receive upper one coordinate data for saving adjacent compartment and control the running orbit of this section compartment axletree.
As a further improvement on the present invention：Headstock track following controller includes positioning unit, the first steeraxle
Steering angle sensor, the first wheel speed sensors and the first hinge angle sensor；The positioning unit is global position system
Or accelerometer, gyroscope, magnetic direction sensor, it is also possible to be that out position is calculated with steeraxle corner by the wheel speed of wheel
Information；The first steeraxle steering angle sensor is installed on the steeraxle of headstock component, for measuring turning for steeraxle
To angle；First wheel speed sensors are installed on the wheel of headstock component, for measuring the wheel speed of wheel；First hinge
Connect the hinged place that angular transducer is installed between headstock component and compartment component, for measure headstock component and compartment component it
Between angle.
As a further improvement on the present invention：Compartment track following controller passes including the second steeraxle steering angle
Sensor, the second wheel speed sensors and the second hinge angle sensor, the second steeraxle steering angle sensor are installed on car
On the steeraxle of railway carriage or compartment component, for measuring the steering angle of steeraxle；Second wheel speed sensors are installed on compartment component
Wheel on, for measuring the wheel speed of wheel；The second hinge angle sensor is installed on the hinge between adjacent compartment component
Place is met, for measuring the angle between adjacent compartment component.
As a further improvement on the present invention：Tailstock track following controller passes including the 3rd steeraxle steering angle
Sensor, third round speed sensor and the 3rd hinge angle sensor, the 3rd steeraxle steering angle sensor are installed on car
On the steeraxle of tail component, for measuring the steering angle of steeraxle；The third round speed sensor is installed on tailstock component
On wheel, for measuring the wheel speed of wheel；The 3rd hinge angle sensor is installed between tailstock component and compartment component
Hinged place, for measuring the angle between tailstock component and compartment component.
As a further improvement on the present invention：Headstock track following controller, compartment track following controller and car
Tail track following controller enters by CAN communication network or by Fast Ethernet, optical-fibre communications, FlexRay communication networks
Row connection.
Compared with prior art, the advantage of the invention is that：
1st, rubber tire train track following control system of the invention, the think of of decentralised control is used for permutation vehicle
Road, sampled data and the steering controller and model- following control of single-unit vehicle can come in the unit following controller of the section vehicle
Realize, unit following controller directly sends steering order to steering controller.The coordinate trajectory data of vehicle passes through CAN
Mode or other high speed communications mode realize it is previous section vehicle and later section vehicle between transmission.This control mode
Each sensor data acquisition is dispersed in the following controller of each vehicle unit track to realize with sensor fusion algorithm,
The structure of track following control system can be greatly simplified, while also allows for the modular arrangements of vehicle, as vehicle need to be increased
Joint number, vehicle unit track following controller need to be only connected in CAN or in other high speed communication buses.
2nd, rubber tire train track following control system of the invention, owned using the thinking of decentralised control to control on vehicle
The steering of wheel, to increase the track coincidence factor of rear wheel and front-wheel in direction of advance, make vehicle as travelled in virtual rail
It is general on road, it can at utmost reduce steering " lubrication groove is poor ", reduce the influence that " visual dead angles " are brought.
Brief description of the drawings
Fig. 1 is structural framing principle schematic of the present invention in concrete application example.
Fig. 2 is the control logic schematic diagram of the present invention.
Fig. 3 is the track model- following control flow chart of headstock track following controller in specific application of the invention.
Fig. 4 be the present invention in specific application compartment track following controller and tailstock track following controller track with
With control flow chart.
Marginal data：
1st, headstock track following controller；101st, positioning unit；102nd, the first steeraxle steering angle sensor；103rd,
One wheel speed sensors；104th, the second steeraxle steering angle sensor；105th, the second wheel speed sensors；106th, steering wheel angle
Sensor；107th, the second steeraxle electrically controlled steering device；2nd, compartment track following controller；201st, the 3rd steeraxle steering angle
Sensor；202nd, third round speed sensor；203rd, the first hinge angle sensor；204th, the 3rd steeraxle electrically controlled steering device；
3rd, tailstock track following controller；301st, the 4th steeraxle steering angle sensor；302nd, fourth round speed sensor；303rd, second
Hinge angle sensor；304th, the 4th steeraxle electrically controlled steering device；4th, headstock component；5th, compartment component；6th, tailstock component.
Embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
Vehicle on virtual rail truck combination typically uses multi-axle steering technology, and most axletree is respectively provided with line traffic control and turned
To device, steer by wire apparatus is turned to by the digital steering order of receiving locus following control system to control, and track follows
Control unit passes through communication transfer numeral steering order.Therefore, track following control system is rear wheel in increase direction of advance
With the track coincidence factor of front-wheel, reduce and turn to " lubrication groove is poor ", reduce the critical component for the influence that " visual dead angles " are brought, and respectively
" brain " that individual axletree turns to.
As depicted in figs. 1 and 2, the following control system being used on virtual rail truck combination of the invention, including：
Headstock track following controller 1, is installed on headstock component 4, including positioning unit 101, the first steeraxle turn to
Angular transducer 102, the first wheel speed sensors 103, the second steeraxle steering angle sensor 104, the second wheel speed sensors 105
With, the steeraxle electrically controlled steering device 107 of steering wheel angle sensor 106 and second.Positioning unit 101 be global position system or
The sensors such as accelerometer, gyroscope, magnetic direction sensor are used for obtaining vehicle position information；First steeraxle steering angle
The steeraxle steering angle sensor 104 of sensor 102 and second is installed on the steeraxle of headstock component 4, is turned to for measuring
The steering angle of bridge；First wheel speed sensors 103 and the second wheel speed sensors 105 are installed on the wheel of headstock component 4, are used for
Measure the wheel speed of wheel.
Compartment track following controller 2, is installed on compartment component 5, including the 3rd steeraxle steering angle sensor
201st, third round speed sensor 202, the first hinge angle sensor 203 and the 3rd steeraxle electrically controlled steering device 204, the 3rd turn
It is installed on to bridge steering angle sensor 201 on the steeraxle of compartment component 5, for measuring the steering angle of steeraxle；3rd
Wheel speed sensors 202 are installed on the wheel on compartment component 5, for measuring the wheel speed of wheel；First hinge angle passes
Sensor 203 is installed on the hinged place between adjacent compartment component 5 or between headstock component 4 and compartment component 5, for measuring phase
Between adjacent compartment component 5 or the angle between headstock component 4 and compartment component 5.The purpose of multiple compartment components 5 is to pass through increasing
Mark-on quasi- expanded shelter lengthens to truck combination.
Tailstock track following controller 3, is installed on tailstock component 6, including the 4th steeraxle steering angle sensor
301st, fourth round speed sensor 302, the 4th steeraxle electrically controlled steering device 304 and the second hinge angle sensor 303.4th turn
It is installed on to bridge steering angle sensor 301 on the steeraxle of tailstock component 6, for measuring the steering angle of steeraxle；4th
Wheel speed sensors 302 are installed on the wheel of tailstock component 6, for measuring the wheel speed of wheel；The second hinge angle sensing
Device 303 is installed on the hinged place between tailstock component 6 and compartment component 5, for measuring between tailstock component 6 and compartment component 5
Angle.
Headstock track following controller 1, compartment track following controller 2 and tailstock track following controller 3 are led to by CAN
News or other high-speed communication networks are attached.
Referring to Fig. 3 and Fig. 4, in the present embodiment, headstock track following controller 1 is by receiving global position system, Gao Xing
Can the inertance element such as gyroscope, accelerometer and Magnetic Sensor, the wheel speed data of the first steeraxle and the second steeraxle wheel, the
One steeraxle and the second steeraxle wheel steering angle, steering wheel angle（Above sensing data simultaneously is not required to all include, possible part
Comprising）The coordinate information of truck combination first segment vehicle centroid is obtained by the Multi-sensor Fusion such as Kalman filtering algorithm
（For origin before being started with truck combination, truck combination first segment automobile body direction is X-axis, and vertical vehicle body is Y direction）.Car
Head rail mark following controller 1 passes through feedforward control and feedback closed loop control by calculating the coordinate data at the second steeraxle center
System obtains the steering angle of the second steeraxle, then is turned to by the driving moment of steer by wire apparatus 108 and remove the second steeraxle to correct
The lateral displacement relative to the first steeraxle track, so as to realize control targe that the second track shaft follows, while second turn
The track model- following control on next section compartment is transferred to by way of CAN communication or other high speed communications to the coordinate data of bridge
Device.
When all wheels travels of vehicle are in identical track, lubrication groove difference is zero, and the rubber tire train can be with the side of track traffic
Formula is oriented to traveling, travels in fixed route, the vehicle in other tracks, pedestrian will not be interfered.
In the present embodiment, compartment track following controller 2 receives upper one by way of CAN communication or other high speed communications
The coordinate data of axle, the data gathered in conjunction with all angles sensor on this section compartment and wheel speed sensors and and first segment
The splice angle of compartment junction, the coordinate of axletree on the section compartment is extrapolated, then obtained by feedforward control and feedback closed loop control
The steering angle of axletree on the section compartment must be removed, is turned to by steer by wire apparatus driving moment and removes axletree on the section compartment to correct
The lateral displacement relative to previous axletree track, so as to realize control targe that track follows.Tailstock track model- following control
The working method of device 3 is as compartment track following controller 2.
From the foregoing, it will be observed that the rubber tire train track following control system of the present invention, using scattered control for permutation vehicle
The thinking of system, sampled data and the steering controller and model- following control of single-unit vehicle can follow control in the unit of the section vehicle
Device processed realizes that unit following controller directly sends steering order to steering controller.The coordinate trajectory data of vehicle passes through
The mode of CAN or the mode of other high speed communications realize the transmission between previous section vehicle and later section vehicle.
I.e.：Headstock track following controller 1 is by gathering steering wheel angle, the steering angle of each vehicle bridge, each wheel
Information that wheel speed and guider provide obtains the coordinate at headstock units centre of mass；Compartment track following controller 2 and car
Tail track following controller 3 is acquired simultaneously to the sensor in the compartment and with the splice angle on the pin joint of front truck hinged place
The running orbit of this section compartment axletree is controlled by the coordinate data in the upper section compartment of communication network transmission reception again.This control
Each sensor data acquisition and sensor fusion algorithm are dispersed in the following controller of each vehicle unit track by mode processed
To realize, the structure of track following control system can be greatly simplified, while also allows for the modular arrangements of vehicle, such as needs to increase
The joint number of vehicle, vehicle unit track following controller need to be only connected in CAN or in other high speed communication buses.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
For those of ordinary skill, some improvements and modifications without departing from the principles of the present invention, the protection of the present invention should be regarded as
Scope.
Claims (5)
- A kind of 1. rubber tire train track following control system, it is characterised in that including：It is installed on headstock component（4）On headstock track following controller（1）, car is obtained by gathering the status signal of headstock Coordinate at head unit barycenter, and the coordinate data of next axle is calculated, the coordinate data of next axle is transferred to next section compartment On track following controller；It is installed on compartment component（5）On compartment track following controller（2）Be installed on tailstock component（6）On tailstock track Following controller（3）, compartment track following controller（2）With tailstock track following controller（3）The corresponding compartment of collection Status signal, then the fortune of this section compartment axletree is controlled by the coordinate data of the upper section adjacent compartment of communication network transmission reception Row track.
- 2. rubber tire train track following control system according to claim 1, it is characterised in that the headstock track follows Controller（1）Including positioning unit（101）, the first steeraxle steering angle sensor（102）, the first wheel speed sensors（103）、 Second steeraxle steering angle sensor（104）, the second wheel speed sensors（105）And steering wheel angle sensor（106）；Institute State positioning unit（101）For global position system or accelerometer, gyroscope, magnetic direction sensor；First steeraxle turns to Angular transducer（102）With the second steeraxle steering angle sensor（104）It is installed on headstock component（4）Steeraxle on, use To measure the steering angle of steeraxle；First wheel speed sensors（103）With the second wheel speed sensors（105）It is installed on headstock Component（4）Wheel on, for measuring the wheel speed of wheel.
- 3. rubber tire train track following control system according to claim 1, it is characterised in that the compartment track follows Controller（2）Including the 3rd steeraxle steering angle sensor（201）, third round speed sensor（202）And first hinge angle Sensor（203）, the 3rd steeraxle steering angle sensor（201）It is installed on compartment component（5）Steeraxle on, be used for Measure the steering angle of steeraxle；The third round speed sensor（202）It is installed on compartment component（5）On wheel on, be used for Measure the wheel speed of wheel；The first hinge angle sensor（203）It is installed on adjacent compartment component（5）Between or headstock group Part（4）With compartment component（5）Between hinged place, for measuring adjacent compartment component（5）Between or headstock component（4）With car Railway carriage or compartment component（5）Between angle.
- 4. rubber tire train track following control system according to claim 1, it is characterised in that the tailstock track follows Controller（3）Including the 4th steeraxle steering angle sensor（301）, fourth round speed sensor（302）And second hinge angle Sensor（303）, the 4th steeraxle steering angle sensor（301）It is installed on tailstock component（6）Steeraxle on, be used for Measure the steering angle of steeraxle；The fourth round speed sensor（302）It is installed on tailstock component（6）Wheel on, for surveying Measure the wheel speed of wheel；The second hinge angle sensor（303）It is installed on tailstock component（6）With compartment component（5）Between Hinged place, for measuring tailstock component（6）With compartment component（5）Between angle.
- 5. the rubber tire train track following control system according to claim 1 or 2 or 3 or 4, it is characterised in that the car Head rail mark following controller（1）, compartment track following controller（2）With tailstock track following controller（3）Pass through CAN communication net Network, ethernet communication network, optical-fibre communications or FlexRay communication networks are attached.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410599927.1A CN105620514B (en) | 2014-10-31 | 2014-10-31 | A kind of rubber tire train track following control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410599927.1A CN105620514B (en) | 2014-10-31 | 2014-10-31 | A kind of rubber tire train track following control system |
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| CN105620514A CN105620514A (en) | 2016-06-01 |
| CN105620514B true CN105620514B (en) | 2017-11-14 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017110862A1 (en) * | 2017-05-18 | 2018-11-22 | Lr Intralogistik Gmbh | Tugger trailer for a tugger train |
| CN107933685B (en) * | 2017-11-23 | 2020-09-22 | 中车株洲电力机车有限公司 | Steering control method, system and equipment for multi-section vehicle |
| CN108357516A (en) * | 2018-04-18 | 2018-08-03 | 盐城工业职业技术学院 | A kind of virtual rail Fleeting control system |
| CN108639093B (en) * | 2018-05-17 | 2019-08-23 | 中车株洲电力机车研究所有限公司 | Self- steering virtual rail train car body articulated mounting and rotation angle control method |
| CN109278640A (en) * | 2018-10-12 | 2019-01-29 | 北京双髻鲨科技有限公司 | A kind of blind area detection system and method |
| CN109747712B (en) * | 2019-03-08 | 2021-01-08 | 途观科技有限公司 | Steering included angle control system of central shaft trailer |
| CN113525214B (en) * | 2020-04-16 | 2022-05-06 | 中车株洲电力机车研究所有限公司 | Rescue method for multi-marshalling vehicle and rescue vehicle |
| CN114056372B (en) * | 2020-08-07 | 2023-02-03 | 中车株洲电力机车研究所有限公司 | Steering system of rubber wheel train and control method thereof |
| CN112572420B (en) * | 2020-12-21 | 2022-05-17 | 深兰人工智能(深圳)有限公司 | Articulated vehicle parking control method and device and articulated vehicle |
| CN113147897B (en) * | 2021-05-24 | 2022-08-23 | 清华大学 | Method and system for controlling superposition of automobile and train tracks |
| CN113696969B (en) * | 2021-09-02 | 2022-07-26 | 浙江吉利控股集团有限公司 | Vehicle steering control method and system and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4804234A (en) * | 1987-04-27 | 1989-02-14 | Eaton Corporation | Tractor-trailer brake control system |
| US6419037B1 (en) * | 2000-07-19 | 2002-07-16 | Meritor Heavy Vehicle Systems, Llc | Multi-unit articulated road train propulsion system |
| CN102529922A (en) * | 2011-12-28 | 2012-07-04 | 天津职业技术师范大学 | Lateral stability control system for semi-trailer train |
| CN102582686B (en) * | 2012-01-18 | 2013-09-18 | 吉林大学 | Truck combination hinge angle measuring and controlling system |
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