CN105620514A - Rubber wheel train track following control system - Google Patents
Rubber wheel train track following control system Download PDFInfo
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- CN105620514A CN105620514A CN201410599927.1A CN201410599927A CN105620514A CN 105620514 A CN105620514 A CN 105620514A CN 201410599927 A CN201410599927 A CN 201410599927A CN 105620514 A CN105620514 A CN 105620514A
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- track following
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- wheel
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Abstract
The invention discloses a rubber wheel train track following control system. The rubber wheel train track following control system comprises a train head track following controller arranged on a train head assembly, a carriage track following controller arranged on a carriage assembly and a train tail track following controller arranged on a train tail assembly. The train head track following controller collects state signals of a train head to obtain the coordinates of a train head unit mass center, calculates coordinate data of a next axle and transmits the coordinate data of the next axle to a track following controller on a next carriage. The carriage track following controller and the train tail track following controller collect the state signals of corresponding carriages and receive the coordinate data of the upper adjacent carriage through communication network transmission to control the motion track of the axle of a carriage. The rubber wheel train track following control system has the advantages of being simple in principle, easy to operate, capable of achieving the optimal control effect and the like.
Description
Technical field
Present invention relates generally to City Rail Transit System field, refer in particular to a kind of track following control system suitable in virtual rail train.
Background technology
City Rail Transit System is the special line public transportation system with continuous steerable ability, and its feature shows as and has whole piece dedicated track, and can not row mixed with motor vehicles. (such as, without crossroad, its road foundation construction does not set crossing, without the special road of bicycle with without motor vehicles circuit). Normal conditions, City Rail Transit System is mostly built on underground or overpass. By using inaccessible pattern to realize its free-running operation in track special line. City Rail Transit System can also use full-automatic operational mode. Additionally, City Rail Transit System is divided into again heavy and light-duty two kinds, such as subway and light rail. But this obvious infrastructure construction of form puts into bigger.
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 matching design, is no matter design and construction cost or maintenance cost is relatively large and is easily limited by running environment;
Tradition bus is lower in cost, and very flexible relative to railroad vehicle, when there is barrier in front, it is possible to avoids barrier very easily and continues to travel, when vehicle breaks down, it is possible to keep to the side, travels without influence on other vehicles. But tradition bus transport power is few, it will usually carrying out formed automobile train by hinged more piece compartment increases transport power. Developing truck combination in small and medium-sized cities and substitute traditional bus, when ensureing truck combination by safety factorss such as property and steering behaviours, it can not only improve transport capacity and can reduce cost of transportation about 30%. Although articulated road train passenger vehicle passenger carrying capacity is big, but it is compared with monomer passenger vehicle, maximum difference is because length of wagon lengthens the road the brought change by property, show as radius of turn to increase, shared track area of turning increases, and easily interferes with other element of road traffic on side, thus can not pass through, even worsen traffic circulation environment, it is impossible to realize public transportation fast and efficiently.
Four-wheel steering technology especially rear-axle steering technology appears as the all-wheel steering function realizing automobile and provides technical support. The vehicles such as at present, all-wheel steering technology has obtained ripe application in some vehicles, and new 7 such as BMW are, daily output grace 350GT, are additionally also widely used in the special vehicles such as beach buggy. The further investigation of linear control system is also applied to some vehicle, and such as BMW " Z22 concept car ", " LexusHPX " of Toyota Company etc., the domestic research for four-wheel steering and linear steering control system at present is also increasingly subject to pay attention to. By adopting line traffic control holoaxial steering technique, it is possible to the wheel trajectories making truck combination is controlled, it is possible to the significant property passed through increasing truck combination.
But it is controlled how to utilize line traffic control multi-axle steering technology to realize the wheel trajectories of rubber tire train, ensure even the track coincidence factor of direction of advance wheel, it is accomplished by inventing on the truck combination that a kind of track following control system turns to for adopting line traffic control holoaxial and controls turning to of wheel, increase the track coincidence factor of rear wheel and front-wheel in direction of advance, reduce and turn to " inside taking turns difference ", reduce the impact that " visual dead angles " is brought.
Summary of the invention
The technical problem to be solved in the present invention is that the present invention provides a kind of rubber tire train track following control system that a kind of principle is simple, easy and simple to handle, be capable of Optimal Control effect for the technical problem that prior art exists.
For solving above-mentioned technical problem, the present invention by the following technical solutions:
A kind of rubber tire train track following control system, including:
It is installed on the headstock track following controller on headstock assembly, the coordinate at headstock units centre of mass place is obtained by gathering the status signal of headstock, and calculate the coordinate data of next axle, the coordinate data of next axle is transferred to the track following controller on next joint compartment;
It is installed on the compartment track following controller on compartment assembly and the tailstock track following controller being installed on tailstock assembly, described compartment track following controller gathers the status signal in corresponding compartment with tailstock track following controller, receives upper one coordinate data saving adjacent compartment again through communication network transmission and controls the running orbit of this section compartment axletree.
As a further improvement on the present invention: described headstock track following controller includes positioning unit, the first steeraxle steering angle sensor, the first wheel speed sensors and the first hinge angle sensor; Described positioning unit is global position system or accelerometer, gyroscope, magnetic direction sensor, it is also possible to for extrapolating positional information by the wheel speed of wheel and steeraxle corner; Described first steeraxle steering angle sensor is installed on the steeraxle of headstock assembly, is used for measuring the steering angle of steeraxle; Described first wheel speed sensors is installed on the wheel of headstock assembly, is used for measuring the wheel speed of wheel; Described first hinge angle sensor is installed on the hinged place between headstock assembly and compartment assembly, is used for the angle measuring between headstock assembly and compartment assembly.
As a further improvement on the present invention: described compartment track following controller includes the second steeraxle steering angle sensor, the second wheel speed sensors and the second hinge angle sensor, described second steeraxle steering angle sensor is installed on the steeraxle of compartment assembly, is used for measuring the steering angle of steeraxle; Described second wheel speed sensors is installed on the wheel on compartment assembly, is used for measuring the wheel speed of wheel; Described second hinge angle sensor is installed on the hinged place between adjacent compartment assembly, is used for the angle measuring between adjacent compartment assembly.
As a further improvement on the present invention: described tailstock track following controller includes the 3rd steeraxle steering angle sensor, third round speed sensor and the 3rd hinge angle sensor, described 3rd steeraxle steering angle sensor is installed on the steeraxle of tailstock assembly, is used for measuring the steering angle of steeraxle; Described third round speed sensor is installed on the wheel of tailstock assembly, is used for measuring the wheel speed of wheel; Described 3rd hinge angle sensor is installed on the hinged place between tailstock assembly and compartment assembly, is used for the angle measuring between tailstock assembly and compartment assembly.
As a further improvement on the present invention: described headstock track following controller, compartment track following controller and tailstock track following controller are attached by CAN communication network or by Fast Ethernet, optical-fibre communications, FlexRay communication network.
Compared with prior art, it is an advantage of the current invention that:
1, the rubber tire train track following control system of the present invention, the thinking of decentralised control is adopted for permutation vehicle, the sampled data of single-unit vehicle all can realize at the unit following controller of this joint vehicle with steering controller and model-following control, and steering controller is directly sent steering order by unit following controller. The coordinate trajectory data of vehicle realizes the transmission between previous joint vehicle and later section vehicle by the mode of CAN or the mode of other high speed communications. Each sensor data acquisition and sensor fusion algorithm are dispersed in each vehicle unit track following controller and realize by this control mode, the structure of track following control system can be greatly simplified, also allow for the modular arrangements of vehicle simultaneously, as the joint number of vehicle need to be increased, only vehicle unit track following controller need to be connected in CAN or in other high speed communication buses.
2, the rubber tire train track following control system of the present invention, the thinking adopting decentralised control controls turning to of all wheels on car load, increase the track coincidence factor of rear wheel and front-wheel in direction of advance, make vehicle as travelled on virtual track, can at utmost reduce and turn to " inside taking turns difference ", reduce the impact that " visual dead angles " is brought.
Accompanying drawing explanation
Fig. 1 is present invention structural framing principle schematic in concrete application example.
Fig. 2 is the control logical schematic of the present invention.
Fig. 3 is present invention track model-following control flow chart of headstock track following controller when concrete application.
Fig. 4 is present invention track model-following control flow chart of compartment track following controller and tailstock track following controller when concrete application.
Marginal data:
1, headstock track following controller; 101, positioning unit; 102, the first steeraxle steering angle sensor; 103, the first wheel speed sensors; 104, the second steeraxle steering angle sensor; 105, the second wheel speed sensors; 106, steering wheel angle sensor; 107, the second steeraxle electrically controlled steering device; 2, compartment track following controller; 201, the 3rd steeraxle steering angle sensor; 202, third round speed sensor; 203, the first hinge angle sensor; 204, the 3rd steeraxle electrically controlled steering device; 3, tailstock track following controller; 301, the 4th steeraxle steering angle sensor; 302, fourth round speed sensor; 303, the second hinge angle sensor; 304, the 4th steeraxle electrically controlled steering device; 4, headstock assembly; 5, compartment assembly; 6, tailstock assembly.
Detailed description of the invention
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
Vehicle on virtual rail truck combination is generally adopted multi-axle steering technology, most axletree is respectively provided with steer by wire apparatus, steer by wire apparatus controls to turn to by the digital steering order of receiving locus following control system, and track model-following control unit passes through communication transfer numeral steering order. Therefore, track following control system is to increase in direction of advance rear wheel and the track coincidence factor of front-wheel, reduces and turns to " inside taking turns difference ", reduces the critical component of the impact that " visual dead angles " is brought, and is also each axletree " brain " that turn to.
As depicted in figs. 1 and 2, the following control system on virtual rail truck combination of the present invention, including:
Headstock track following controller 1, it is installed on headstock assembly 4, including positioning unit the 101, first steeraxle steering angle sensor the 102, first wheel speed sensors the 103, second steeraxle steering angle sensor the 104, second wheel speed sensors 105 with, steering wheel angle sensor 106 and the second steeraxle electrically controlled steering device 107. Positioning unit 101 is used for obtaining vehicle position information for the sensor such as global position system or accelerometer, gyroscope, magnetic direction sensor; First steeraxle steering angle sensor 102 and the second steeraxle steering angle sensor 104 are installed on the steeraxle of headstock assembly 4, are used for measuring the steering angle of steeraxle; First wheel speed sensors 103 and the second wheel speed sensors 105 are installed on the wheel of headstock assembly 4, are used for measuring the wheel speed of wheel.
Compartment track following controller 2, it is installed on compartment assembly 5, including the 3rd steeraxle steering angle sensor 201, third round speed sensor the 202, first hinge angle sensor 203 and the 3rd steeraxle electrically controlled steering device 204,3rd steeraxle steering angle sensor 201 is installed on the steeraxle of compartment assembly 5, is used for measuring the steering angle of steeraxle; Third round speed sensor 202 is installed on the wheel on compartment assembly 5, is used for measuring the wheel speed of wheel; Described first hinge angle sensor 203 is installed on the hinged place between adjacent compartment assembly 5 or between headstock assembly 4 and compartment assembly 5, is used for the angle measured between adjacent compartment assembly 5 or between headstock assembly 4 and compartment assembly 5. The purpose of multiple compartments assembly 5 is by increase standard extension compartment, truck combination to be lengthened.
Tailstock track following controller 3, is installed on tailstock assembly 6, including the 4th steeraxle steering angle sensor 301, fourth round speed sensor the 302, the 4th steeraxle electrically controlled steering device 304 and the second hinge angle sensor 303. 4th steeraxle steering angle sensor 301 is installed on the steeraxle of tailstock assembly 6, is used for measuring the steering angle of steeraxle; Fourth round speed sensor 302 is installed on the wheel of tailstock assembly 6, is used for measuring the wheel speed of wheel; Described second hinge angle sensor 303 is installed on the hinged place between tailstock assembly 6 and compartment assembly 5, is used for the angle measuring between tailstock assembly 6 and compartment assembly 5.
Headstock track following controller 1, compartment track following controller 2 and tailstock track following controller 3 are attached by CAN communication or other high-speed communication network.
Referring to Fig. 3 and Fig. 4, in the present embodiment, headstock track following controller 1 is by receiving global position system, high-performance gyroscope, acceleration takes into account the inertance elements such as Magnetic Sensor, the wheel speed data of the first steeraxle and the second steeraxle wheel, first steeraxle and the second steeraxle wheel steering angle, (above sensing data does not need all to comprise steering wheel angle, it is likely to part comprise) obtain the coordinate information of truck combination first segment vehicle centroid (for initial point before starting with truck combination by Multi-sensor Fusion algorithms such as Kalman filterings, truck combination first segment automobile body direction is X-axis, vertical vehicle body is Y direction). headstock track following controller 1 is by calculating the coordinate data at the second steeraxle center, and control to obtain the steering angle of the second steeraxle by the feedforward and feedback closed loop, drive wheel steering to revise the lateral displacement relative to the first steeraxle track except the second steeraxle again through steer by wire apparatus 108, thus realizing the control target that the second track shaft is followed, the coordinate data of the second steeraxle is transferred to the track following controller on next joint compartment by the mode of CAN communication or other high speed communications simultaneously.
When all wheels travel of vehicle interior difference of taking turns when identical track is zero, this rubber tire train can lead traveling in the way of track traffic, travels in fixed route, will not the vehicle in other tracks, pedestrian be interfered.
In the present embodiment, compartment track following controller 2 receives the coordinate data of a upper axle by the mode of CAN communication or other high speed communications, the data that gather in conjunction with all angles sensor on this section compartment and wheel speed sensors and the splice angle with junction, first segment compartment, extrapolate the coordinate of axletree on this joint compartment, control to obtain except the steering angle of axletree on this joint compartment again through the feedforward and feedback closed loop, drive wheel steering to revise except the lateral displacement relative to previous axletree track of axletree on this joint compartment by steer by wire apparatus, thus realizing the control target that track is followed. the working method of tailstock track following controller 3 is the same with compartment track following controller 2.
As from the foregoing, the rubber tire train track following control system of the present invention, the thinking of decentralised control is adopted for permutation vehicle, the sampled data of single-unit vehicle all can realize at the unit following controller of this joint vehicle with steering controller and model-following control, and steering controller is directly sent steering order by unit following controller. The coordinate trajectory data of vehicle realizes the transmission between previous joint vehicle and later section vehicle by the mode of CAN or the mode of other high speed communications.
That is: headstock track following controller 1 obtains the coordinate at headstock units centre of mass place by gathering steering wheel angle, the steering angle of each vehicle bridge, the wheel speed of each wheel and the information of guider offer; Compartment track following controller 2 and tailstock track following controller 3 to the sensor in this compartment and are acquired receiving the coordinate data in a upper joint compartment to control the running orbit of this section compartment axletree again through communication network transmission with the splice angle on the pin joint of front truck hinged place simultaneously. Each sensor data acquisition and sensor fusion algorithm are dispersed in each vehicle unit track following controller and realize by this control mode, the structure of track following control system can be greatly simplified, also allow for the modular arrangements of vehicle simultaneously, as the joint number of vehicle need to be increased, only vehicle unit track following controller need to be connected in CAN or in other high speed communication buses.
Below being only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment, and 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 those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be regarded as protection scope of the present invention.
Claims (5)
1. a rubber tire train track following control system, it is characterised in that including:
It is installed on headstock track following controller (1) on headstock assembly (4), the coordinate at headstock units centre of mass place is obtained by gathering the status signal of headstock, and calculate the coordinate data of next axle, the coordinate data of next axle is transferred to the track following controller on next joint compartment;
It is installed on compartment track following controller (2) on compartment assembly (5) and tailstock track following controller (3) being installed on tailstock assembly (6), described compartment track following controller (2) gathers the status signal in corresponding compartment with tailstock track following controller (3), receives upper one coordinate data saving adjacent compartment again through communication network transmission and controls the running orbit of this section compartment axletree.
2. rubber tire train track following control system according to claim 1, it is characterized in that, described headstock track following controller (1) includes positioning unit (101), the first steeraxle steering angle sensor (102), the first wheel speed sensors (103), the second steeraxle steering angle sensor (104), the second wheel speed sensors (105) and steering wheel angle sensor (106); Described positioning unit (101) is global position system or accelerometer, gyroscope, magnetic direction sensor; First steeraxle steering angle sensor (102) and the second steeraxle steering angle sensor (104) are installed on the steeraxle of headstock assembly (4), are used for measuring the steering angle of steeraxle; Described first wheel speed sensors (103) and the second wheel speed sensors (105) are installed on the wheel of headstock assembly (4), are used for measuring the wheel speed of wheel.
3. rubber tire train track following control system according to claim 1, it is characterized in that, described compartment track following controller (2) includes the 3rd steeraxle steering angle sensor (201), third round speed sensor (202) and the second hinge angle sensor (203), described 3rd steeraxle steering angle sensor (201) is installed on the steeraxle of compartment assembly (5), is used for measuring the steering angle of steeraxle; Described third round speed sensor (202) is installed on the wheel on compartment assembly (5), is used for measuring the wheel speed of wheel; Described first hinge angle sensor (203) is installed on the hinged place between adjacent compartment assembly (5) or between headstock assembly (4) and compartment assembly (5), is used for the angle measured between adjacent compartment assembly (5) or between headstock assembly (4) and compartment assembly (5).
4. rubber tire train track following control system according to claim 1, it is characterized in that, described tailstock track following controller (3) includes the 4th steeraxle steering angle sensor (301), fourth round speed sensor (302) and the second hinge angle sensor (303), described 4th steeraxle steering angle sensor (301) is installed on the steeraxle of tailstock assembly (6), is used for measuring the steering angle of steeraxle; Described fourth round speed sensor (302) is installed on the wheel of tailstock assembly (6), is used for measuring the wheel speed of wheel; Described second hinge angle sensor (303) is installed on the hinged place between tailstock assembly (6) and compartment assembly (5), is used for the angle measuring between tailstock assembly (6) and compartment assembly (5).
5. the rubber tire train track following control system according to claim 1 or 2 or 3 or 4, it is characterized in that, described headstock track following controller (1), compartment track following controller (2) and tailstock track following controller (3) are attached by CAN communication network, ethernet communication network, optical-fibre communications or FlexRay communication network.
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| CN201410599927.1A CN105620514B (en) | 2014-10-31 | 2014-10-31 | A kind of rubber tire train track following control system |
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| 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 true CN105620514A (en) | 2016-06-01 |
| CN105620514B CN105620514B (en) | 2017-11-14 |
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| CN107933685A (en) * | 2017-11-23 | 2018-04-20 | 中车株洲电力机车有限公司 | A kind of rotating direction control method of multi-section vehicles, system and equipment |
| 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 |
| CN108639093A (en) * | 2018-05-17 | 2018-10-12 | 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 |
| WO2018210582A1 (en) * | 2017-05-18 | 2018-11-22 | Lr Intralogistik Gmbh | Route train trailer for a route train |
| 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 |
| CN109747712A (en) * | 2019-03-08 | 2019-05-14 | 途观科技有限公司 | Central axle trailer turns to angle control system |
| CN112572420A (en) * | 2020-12-21 | 2021-03-30 | 深兰人工智能(深圳)有限公司 | Articulated vehicle parking control method and device and articulated vehicle |
| CN113147897A (en) * | 2021-05-24 | 2021-07-23 | 清华大学 | Control method and system for automobile train track coincidence |
| CN113525214A (en) * | 2020-04-16 | 2021-10-22 | 中车株洲电力机车研究所有限公司 | Rescue method for multi-marshalling vehicle and rescue vehicle |
| CN113696969A (en) * | 2021-09-02 | 2021-11-26 | 浙江吉利控股集团有限公司 | Vehicle steering control method and system and vehicle |
| CN114056372A (en) * | 2020-08-07 | 2022-02-18 | 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 |
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| WO2018210582A1 (en) * | 2017-05-18 | 2018-11-22 | Lr Intralogistik Gmbh | Route train trailer for a route 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 |
| CN107933685A (en) * | 2017-11-23 | 2018-04-20 | 中车株洲电力机车有限公司 | A kind of rotating direction control method of multi-section vehicles, system and equipment |
| 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 |
| CN108639093A (en) * | 2018-05-17 | 2018-10-12 | 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 |
| 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 |
| CN109747712A (en) * | 2019-03-08 | 2019-05-14 | 途观科技有限公司 | Central axle trailer turns to angle control system |
| CN113525214A (en) * | 2020-04-16 | 2021-10-22 | 中车株洲电力机车研究所有限公司 | Rescue method for multi-marshalling vehicle and rescue vehicle |
| CN114056372A (en) * | 2020-08-07 | 2022-02-18 | 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 |
| 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 |
| CN112572420A (en) * | 2020-12-21 | 2021-03-30 | 深兰人工智能(深圳)有限公司 | Articulated vehicle parking control method and device and articulated vehicle |
| 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 |
| CN113147897A (en) * | 2021-05-24 | 2021-07-23 | 清华大学 | Control method and system for automobile train track coincidence |
| CN113696969A (en) * | 2021-09-02 | 2021-11-26 | 浙江吉利控股集团有限公司 | Vehicle steering control method and system and vehicle |
| 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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