CN105808798B - Cooperative simulation system of trackless self-guiding automobile train - Google Patents
Cooperative simulation system of trackless self-guiding automobile train Download PDFInfo
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- CN105808798B CN105808798B CN201410840968.5A CN201410840968A CN105808798B CN 105808798 B CN105808798 B CN 105808798B CN 201410840968 A CN201410840968 A CN 201410840968A CN 105808798 B CN105808798 B CN 105808798B
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Abstract
The invention discloses a cooperative simulation system of a trackless self-guiding automobile train, which comprises: the control module is used as a driving mechanism and used for establishing a related control strategy; the vehicle dynamics module is used as an execution mechanism and used for simulating the dynamic response of the system under the control strategy; and the interface module is used as a connecting mechanism and is used for realizing the bidirectional connection of variables between the control module and the vehicle dynamics module. The method has the advantages of realizing the collaborative simulation between the control strategy and the vehicle dynamics module, verifying and simulating the automatic guiding control and the like.
Description
Technical Field
The invention mainly relates to the field of simulation of vehicle design, in particular to a collaborative simulation system suitable for a trackless self-guiding automobile train.
Background
A trackless self-guiding automobile train is a novel passenger-carrying automobile train platform with all-wheel steering and multi-shaft driving functions. The track following control technology can lead the self-guided automobile train to automatically guide to run like a rail train without bearing or guiding a track, the trafficability of the train on the road is very good, and the vehicle has smaller channel width no matter in a straight road or a curve.
The core of the trackless self-guiding automobile train is a track following control system. The system ensures the track coincidence of the wheels in the advancing direction of the train by controlling the steering angle of each wheel of the self-guiding train so as to achieve the aim that all wheels run according to the same preset track, namely self-guiding.
In the conventional control system simulation, an actual physical model is generally abstracted into a mathematical model, then a transfer function between variables is calculated, and finally a simulation model is built in control software to complete the simulation and verification of a control strategy. The trackless self-guiding automobile train has two or more carriages, the steering angle of wheels to be controlled is at least more than 6, and factors influencing train operation comprise a vehicle structure, vehicle speed, road surface conditions, hinge angles and the like, so that a transfer function between output and input is difficult to establish, and a track following control system is further established. The traditional dynamic model is a multi-component system model which is built in dynamic simulation software and contains component motion parameters and connection and constraint relations among components, can simulate the kinematic relation of a system and the dynamic response of a test system, but does not have the capability of accurately inputting and controlling a drive.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a trackless self-guiding automobile train collaborative simulation system which can realize collaborative simulation between a control strategy and a vehicle dynamics module and can verify and simulate automatic guiding control.
In order to solve the technical problems, the invention adopts the following technical scheme:
a collaborative simulation system of a trackless self-guided automobile train comprises:
the control module is used as a driving mechanism and used for establishing a related control strategy;
the vehicle dynamics module is used as an execution mechanism and used for simulating the dynamic response of the system under the control strategy;
and the interface module is used as a connecting mechanism and is used for realizing the bidirectional connection of variables between the control module and the vehicle dynamics module.
As a further improvement of the invention: the vehicle dynamics module includes:
the train body unit comprises a carriage state parameter and is used for simulating a multi-section carriage structure of the self-steering automobile train;
the wheel unit comprises state parameters of wheels, has a degree of freedom of rotating along the vertical direction relative to the train body and is used for simulating the full-steering wheels of the self-steering automobile train;
the steering mechanism is respectively connected with the vehicle body and the wheels and is used for applying corner information sent by the control signal;
the driving mechanism is used for simulating the real-time driving force of the self-guiding automobile train;
the hinge mechanisms are respectively connected with the two carriages, have a degree of freedom of rotation along the vertical direction between the two ends and are used for simulating a hinge disc of the self-guiding automobile train;
and the ground model unit comprises the road surface condition and the contact relation between the ground and the wheels and is used for simulating the road surface of the self-steering automobile train in the running process.
As a further improvement of the invention: the state parameters of the carriage comprise the weight, the gravity center position, the rotational inertia and the installation position of other mechanisms of the carriage.
As a further improvement of the invention: the state parameters of the wheels comprise the weight, the gravity center position, the moment of inertia and the connection position with the vehicle body model of the wheels.
As a further improvement of the invention: the variables transmitted in the interface module comprise the turning angles of the wheels provided by the control module to the vehicle dynamics module and the vehicle real-time state variables provided by the vehicle dynamics module to the control module.
As a further improvement of the invention: and a control strategy for tracking the self-guided automobile train is arranged in the control module, the real-time state information of the automobile is received through the interface module, and the real-time turning angle of each wheel of the self-guided automobile train is output.
As a further improvement of the invention: and the control module is internally provided with collaborative simulation control parameters, and the collaborative simulation control parameters comprise a collaborative simulation calculation step length, a simulation mode, a communication mode and a communication interval.
Compared with the prior art, the invention has the advantages that:
the invention relates to a cooperative simulation system of a trackless self-guiding automobile train, which firstly solves the problems that a control model and a short plate of a dynamic model are difficult to establish a complex transfer function of the whole automobile and the dynamic model is difficult to accurately control the driving; secondly, a dynamic model in the system is built according to a self-guided automobile train structure, and the kinematics and dynamics relation among all parts is established; and finally, an interface module in the system realizes real-time and bidirectional connection between the dynamic model and the control model, and finally, accurate simulation of the track following control system can be completed.
Drawings
FIG. 1 is a schematic diagram of the topology of the co-simulation system of the present invention.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in FIG. 1, the cooperative simulation system of the trackless self-guided automobile train of the invention comprises a control module, an interface module and a vehicle dynamics module. The control module is a driving mechanism of the system and is used for establishing a related control strategy; the interface module is a connecting mechanism of the system and is used for realizing the bidirectional connection of variables between the control module and the vehicle dynamics module; the vehicle dynamics module is an actuator of the system and is used for simulating the dynamic response of the system under the control strategy. By means of the collaborative simulation of the control module and the dynamic model in the system, the track following control technology of the self-guiding automobile train can be accurately simulated.
In this embodiment, the vehicle dynamics module includes a vehicle body unit, a wheel unit, a steering mechanism, a driving mechanism, an articulation mechanism, a ground model unit, etc., and the model can be increased or decreased according to the actual marshalling of the self-steering vehicle train; and simultaneously, variable input and output interfaces are reserved. The body unit comprises the weight, the gravity center position, the moment of inertia, the installation positions of other mechanisms and the like of a carriage, and is used for simulating a multi-section carriage structure of the self-steering automobile train. The wheel unit comprises the weight, the gravity center position, the moment of inertia and the connecting position of the wheel with the vehicle body model, has the freedom degree of rotating along the vertical direction relative to the vehicle body and is used for simulating the full-steering wheel of the self-steering automobile train. The two ends of the steering mechanism are respectively connected with the vehicle body and the wheels and used for applying corner information sent by the control signal. The driving mechanism can apply driving signals such as force, torque, speed, acceleration and the like, and is used for simulating real-time driving force of the self-guiding automobile train. Two ends of the hinge mechanism are respectively connected with two carriages, and the freedom degree of rotation along the vertical direction is arranged between the two ends of the hinge mechanism and used for simulating a hinge disc of a self-guiding automobile train. The ground model unit comprises the road surface condition and the contact relation between the ground and the wheels and is used for simulating the road surface of the self-steering automobile train in the running process.
In this embodiment, the interface module is configured to implement a bidirectional connection of variables between the vehicle dynamics module and the control module. The transmitted variables comprise the turning angles of the wheels provided by the control module to the vehicle dynamics module and the vehicle real-time state variables provided by the vehicle dynamics module to the control module. Further, in the specific operation process, the control module may further set collaborative simulation control parameters such as a computation step size of collaborative simulation, a simulation mode (offline or continuous), a communication mode, a communication interval, and the like.
In this embodiment, the control module includes a control strategy for tracking the self-guided automobile train, and can receive the real-time vehicle status information provided by the interface module and output the real-time turning angle of each wheel of the self-guided automobile train.
The working principle is as follows: the triggering and the operation of the collaborative simulation system are controlled by the control module. When the system runs, the control module does not stop sending out a control strategy and displays related variable information; the interface module transmits data between the control module and the vehicle dynamics module in real time; the vehicle dynamics module displays the running state of the self-guiding automobile train in real time, can draw the running track of each wheel and display the information of related monitoring variables. When the system finishes simulation, simulation results of the control module and the vehicle dynamics module are stored in respective working catalogues (the working catalogues can be set), variable information in the execution process of the control module can be checked in an off-line mode, and variable information such as speed, acceleration, displacement, force, torque and the like of each component in the execution process of the dynamics model can be checked in an off-line mode.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (5)
1. The utility model provides a cooperative simulation system of trackless self-steering motor train, its characterized in that, trackless self-steering motor train is for having the passenger motor train platform of full-wheel steering, multiaxis drive function, utilizes the track to follow control technique and makes trackless self-steering motor train move at the automatic direction under the orbital condition that need not to bear or lead, through the orbit coincidence of the angle of turning of each wheel of control trackless self-steering train in order to guarantee train direction of advance wheel, all wheels are according to same predetermined orbit operation, include:
the control module is used as a driving mechanism and used for establishing a related control strategy;
the vehicle dynamics module is used as an execution mechanism and used for simulating the dynamic response of the system under the control strategy;
the interface module is used as a connecting mechanism and is used for realizing the bidirectional connection of variables between the control module and the vehicle dynamics module;
a control strategy for tracking the self-guided automobile train track is arranged in the control module, real-time vehicle state information is received through the interface module, and a real-time turning angle of each wheel of the self-guided automobile train is output; the variables transmitted in the interface module comprise the turning angles of the wheels provided by the control module to the vehicle dynamics module and the vehicle real-time state variables provided by the vehicle dynamics module to the control module.
2. The collaborative simulation system for a trackless, self-guided automobile train of claim 1, wherein the vehicle dynamics module comprises:
the train body unit comprises a carriage state parameter and is used for simulating a multi-section carriage structure of the self-steering automobile train;
the wheel unit comprises state parameters of wheels, has a degree of freedom of rotating along the vertical direction relative to the train body and is used for simulating the full-steering wheels of the self-steering automobile train;
the steering mechanism is respectively connected with the vehicle body and the wheels and is used for applying corner information sent by the control signal;
the driving mechanism is used for simulating the real-time driving force of the self-guiding automobile train;
the hinge mechanisms are respectively connected with the two carriages, have a degree of freedom of rotation along the vertical direction between the two ends and are used for simulating a hinge disc of the self-guiding automobile train;
and the ground model unit comprises the road surface condition and the contact relation between the ground and the wheels and is used for simulating the road surface of the self-steering automobile train in the running process.
3. The collaborative simulation system for a trackless, self-guided automobile train according to claim 2, wherein the state parameters of the cars include weight, center of gravity position, moment of inertia, and installation position of other mechanisms of the cars.
4. The collaborative simulation system for a trackless, self-guided automobile train according to claim 2, wherein the state parameters of the wheels include weight, center of gravity position, moment of inertia of the wheels, and connection position with a body model.
5. The collaborative simulation system for a trackless, self-guided motor vehicle train of claim 1, wherein collaborative simulation control parameters are provided in the control module, the collaborative simulation control parameters including a computational step size, a simulation mode, a communication mode, and a communication interval of the collaborative simulation.
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| WO2023081176A1 (en) * | 2021-11-05 | 2023-05-11 | Carnegie Mellon University | Systems and methods for verifying train controllers |
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| CN111027146B (en) * | 2019-12-30 | 2023-11-24 | 行蜂科技(深圳)有限责任公司 | Dynamic real-time calculation method for vehicle load |
| CN114253153B (en) * | 2020-09-23 | 2024-05-28 | 湖南中车智行科技有限公司 | Vehicle steering simulation method and simulation system thereof |
| CN113734245B (en) * | 2021-09-24 | 2024-03-12 | 中车南京浦镇车辆有限公司 | Method and device for controlling tracking of rotary shaft type rubber wheel low-floor virtual rail train |
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| CN102880758B (en) * | 2012-09-27 | 2014-11-05 | 西南交通大学 | Dynamics coupling simulation method of high-speed train system |
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| CN103778844A (en) * | 2014-01-21 | 2014-05-07 | 燕山大学 | Non-track split-type hydraulic motor train unit experimental platform and a steering control system thereof |
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