CN106394544A - Transit elevated bus turning control system and control method thereof - Google Patents
Transit elevated bus turning control system and control method thereof Download PDFInfo
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- CN106394544A CN106394544A CN201610857403.7A CN201610857403A CN106394544A CN 106394544 A CN106394544 A CN 106394544A CN 201610857403 A CN201610857403 A CN 201610857403A CN 106394544 A CN106394544 A CN 106394544A
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- 238000000465 moulding Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0014—Adaptive controllers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a transit elevated bus turning control system. The system comprises a speed acquisition module, a position determination module, a vehicle master control module, an inside wheel driving module, an outside wheel driving module and a sub-control module, wherein the speed acquisition module is used for acquiring the running speed of a vehicle; the position determination module is used for acquiring position information of an inside wheel and an outside wheel opposite to the inside wheel of the vehicle; the vehicle master control module is used for determining an arc radius value of a midpoint between the inside wheel and the outside wheel according to the position information, calculating a linear speed to be achieved by the inside wheel and the outside wheel according to the arc radius value and the running speed, and sending the linear speed to the sub-control module; and the sub-control module is used for correspondingly controlling, according to the linear speed to be achieved, the inside wheel driving module and the outside wheel driving module to output predetermined driving force to drive the inside wheel and the outside wheel to achieve the required linear speed. The invention furthermore relates to a control method of the transit elevated bus turning control system.
Description
Technical field
The present invention relates to elevated wide electric vehicle technical field, particularly to a kind of elevated wide electric vehicle turning control system and
Its control method.
Background technology
Due to bulky, Steering is always it and moves towards before large-scale application one urgently elevated wide electric vehicle
One of difficult problem solving.At present, for the Servo Control strategy realizing elevated wide electric vehicle using both sides vehicle wheel rotational speed difference, state
Inside and outside there is no other cases clear and definite.In track traffic, the radius of turn due to track is very big, can be solved by bogie
Bend problem；And the differential control applied on automobile, it is to detect that wheel spin reduces this wheel speed by ABS system, with
Again recover earth-grasping force, belong to the passive adaptation to differentiated friction power ground, be not intended to the steering of vehicle.
Content of the invention
It is an object of the invention to, provide a kind of elevated wide electric vehicle turning control system, to solve above-mentioned technical problem.
The embodiment of the present invention provides a kind of elevated wide electric vehicle turning control system, true including speed acquisition module, position
Cover half block, vehicle total control module, inboard wheel drive module, outboard wheels drive module and sub- control module, described speed
Acquisition module, described position determination module, described inboard wheel drive module, described sub- control module all with described vehicle master control
Molding block connects, and described sub- control module is connected with described inboard wheel drive module and outboard wheels drive module；Described speed
Degree acquisition module is used for the travel speed of collection vehicle and sends the travel speed of vehicle to described vehicle total control module, institute
State position determination module in collection vehicle relative to inboard wheel with outboard wheels the position letter on vehicle traveling track
Breath simultaneously sends the positional information of inboard wheel and outboard wheels to described vehicle total control module, described vehicle total control module
Determine according to the positional information of inboard wheel and outboard wheels to advance in vehicle in the midpoint between inboard wheel and outboard wheels
Arc radius value on track, described vehicle total control module is according to the midpoint between inboard wheel and outboard wheels in vehicle row
Enter the arc radius value on track and the travel speed of vehicle calculates inboard wheel and the line reaching required for outboard wheels
Speed, and inboard wheel is sent to described sub- control module, described sub- control with the linear velocity reaching required for outboard wheels
The linear velocity described inboard wheel drive module of corresponding control and institute that module reaches according to required for inboard wheel is with outboard wheels
State outboard wheels drive module, export predetermined drive force inboard wheel and reach required linear velocity with outboard wheels.
Further, in Ackermann steer angle, if the preset lines velocity amplitude of inboard wheel is vi, the predetermined linear speed of outboard wheels
Angle value is vo, the travelling speed value of vehicle be half distance value between v, relative inboard wheel and outboard wheels is d, inner side
Arc radius value on vehicle traveling track for the midpoint between wheel and outboard wheels is r, and now, vehicle is located around bend
Angular velocity omega=the v/r of circle centre position, vi and vo meet following relation respectively and v, d and r between：
Vi=ω * (r-d)=(1-d/r) * v；
Vo=ω * (r+d)=(1+d/r) * v.
Further, described vehicle total control module memory storage has in the routing information of vehicle traveling track and is stored with
At any one position of place of vehicle traveling track, advance in vehicle in the midpoint between relative inboard wheel and outboard wheels
Arc radius value on track.
Further, described elevated wide electric vehicle has multiple inboard wheels and multiple outboard wheels, multiple inboard wheels
It is arranged in pairs with multiple outboard wheels, relative inboard wheel determines position with outboard wheels by a position determination module.
Further, each inboard wheel and each outboard wheels pass through an inboard wheel drive module and respectively
Individual outboard wheels drive module driving, relative inboard wheel and the inboard wheel drive module corresponding to outboard wheels and outside
The driving force that wheel drive module is exported is controlled by a described sub- control module.
Further, described speed acquisition module is velocity sensor.
Further, described position determination module is GPS locator.
The present invention also provides a kind of control method of elevated wide electric vehicle turning control system, comprises the following steps；
The inboard wheel of the current driving velocity amplitude of collection vehicle and vehicle and the positional information of outboard wheels；
Determine in vehicle relative to inboard wheel and outboard wheels between arc on vehicle traveling track for the midpoint half
Footpath is worth；
Calculate inboard wheel and the linear velocity reaching needed for outboard wheels；And
Export the linear velocity required for predetermined drive force inboard wheel is reached with outboard wheels.
The invention has the beneficial effects as follows：
The elevated wide electric vehicle turning control system of the present invention and control method can make when elevated wide electric vehicle is turned
The inboard wheel of elevated wide electric vehicle and outboard wheels reach required linear velocity it is ensured that vehicle does not have horizontal sliding, knot
Structure is simple, low cost and control accuracy is high.
Brief description
Fig. 1 is the theory diagram of the elevated wide electric vehicle turning control system of the embodiment of the present invention.
Fig. 2 is the flow chart of the elevated wide electric vehicle Servo Control method of the embodiment of the present invention.
Specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is further described.
Refer to Fig. 1, the embodiment of the present invention provides a kind of elevated wide electric vehicle turning control system, including speed acquisition mould
Block 1, position determination module 2, vehicle total control module 3, inboard wheel drive module 4, outboard wheels drive module 5 and son control
Module 6.Speed acquisition module 1, position determination module 2, sub- control module 6 are all connected with vehicle total control module 3, sub- control mould
Block 6 is connected with inboard wheel drive module 4 and outboard wheels drive module 5.Speed acquisition module 1 is used for the traveling of collection vehicle
Speed simultaneously sends the travel speed of vehicle to vehicle total control module 3, and position determination module 2 is used for gathering relative inner side car
Wheel with positional information on vehicle traveling track for the outboard wheels and by the positional information of inboard wheel and outboard wheels send to
Vehicle total control module 3, vehicle total control module 3 determines inboard wheel according to the positional information of inboard wheel and outboard wheels
Arc radius value on vehicle traveling track for the midpoint and outboard wheels between, vehicle total control module 3 is according to inboard wheel
The travel speed of arc radius value on vehicle traveling track for the midpoint and outboard wheels between and vehicle calculates inner side
Wheel is sent with the linear velocity reaching required for outboard wheels with the linear velocity reaching required for outboard wheels and by inboard wheel
The linear velocity being reached according to required for the inboard wheel receiving with outboard wheels to sub- control module 6, sub- control module 6 is right
Inboard wheel drive module 4 and outboard wheels drive module 5 should be controlled to export predetermined drive force inboard wheel and outside
Wheel reaches required linear velocity.
It should be noted that arc radius value on vehicle traveling track for the midpoint between inboard wheel and outboard wheels
Refer to and (could also say that corner) in the curved portions of vehicle traveling track, between inboard wheel and outboard wheels in
Point is to the distance in the center of circle of this curved portions.Need it is further noted that vehicle travels in the straight line portion of vehicle traveling track
When, arc radius value on vehicle traveling track for the midpoint between inboard wheel and outboard wheels is 0, and vehicle need not be turned,
And vehicle vehicle running rail arc to part travel when, the midpoint between inboard wheel and outboard wheels is in vehicle traveling rail
Arc radius value r on road just has specific data, and vehicle needs to turn.
In the present embodiment, when the vehicle is turning, if the preset lines velocity amplitude of inboard wheel be vi, outboard wheels predetermined
Linear speed angle value is vo, the travelling speed value of vehicle be half distance value between v, relative inboard wheel and outboard wheels be d,
Arc radius value on vehicle traveling track for the midpoint between inboard wheel and outboard wheels is r, and now, vehicle is around bend
Angular velocity omega=the v/r of place circle centre position, vi and vo meet following relation respectively and v, d and r between：
Vi=ω * (r-d)=(1-d/r) * v；
Vo=ω * (r+d)=(1+d/r) * v.
It should be noted that the half distance value d between two relative wheels of vehicle is given value, between two relative wheels
Turning radius value r of any point on vehicle traveling track for the midpoint be also given value, toy vehicle velocity value v of any time
Can record in real time, therefore, reach needed for linear speed angle value vi reaching needed for the interior outboard wheels of corner and outboard wheels
Linear speed angle value vo all can be in the hope of, vehicle total control module 3 will inboard wheel and the linear speed reaching needed for outboard wheels this moment
Angle value vi and vo send the linear velocity reaching according to needed for inboard wheel with outboard wheels to sub- control module 6, sub- control module 6
Value vi is corresponding with vo to control inboard wheel drive module 4 and outboard wheels drive module 5, make inboard wheel drive module 4 with
Outboard wheels drive module 5 provides predetermined driving force, drives the linear velocity of inboard wheel of vehicle and the linear speed of outboard wheels
Degree reaches setting value, ensures that vehicle does not have horizontal sliding simultaneously.
Vehicle total control module 3 internal memory contains in the routing information of vehicle traveling track and is stored with vehicle traveling rail
At any one position of the place in road, midpoint between the relative inboard wheel and outboard wheels arc on vehicle traveling track
Radius value, to facilitate vehicle total control module 3 according to relative inboard wheel and position on vehicle traveling track for the outboard wheels
Put the arc radius value corresponding to midpoint determining between relative inboard wheel and outboard wheels.
It should be noted that elevated wide electric vehicle has multiple inboard wheels and multiple outboard wheels, multiple inboard wheels
It is arranged in pairs with multiple outboard wheels, relative inboard wheel passes through a position determination module 2 with outboard wheels and determines position.
Further, in order to the rotating speed of each wheel of precise control, on each inboard wheel and each outboard wheels
Pass through an inboard wheel drive module 4 and an outboard wheels drive module 5 respectively to drive, each inboard wheel with each outside
One inboard wheel drive module 4 and an outboard wheels drive module 5 are passed through respectively on the wheel of side drive, relative inner side car
The driving force that wheel is exported with the inboard wheel drive module 4 corresponding to outboard wheels and outboard wheels drive module 5 is by one
Described sub- control module 6 controls, and in other words namely the quantity of sub- control module 6 is also multiple, and each is right from control module 6
Answer one group of inboard wheel drive module 4 and outboard wheels drive module 5.
In the present embodiment, speed acquisition module 1 is velocity sensor, and velocity sensor arranges the car of elevated wide electric vehicle
With, with the gait of march of Real-time Collection elevated wide electric vehicle.
In the present embodiment, position determination module 2 is GPS locator, and GPS locator can accurately be determined relative interior
Side wheel and the position on vehicle traveling track of outboard wheels.
Certainly, in other embodiments, position determination module 2 for example can be using antenna and on the traveling track of vehicle
It is positioned apart from the mode of beacon, when at vehicle running to beacon, car antenna with beacon communication, can obtain the position of beacon
Put.Meanwhile, vehicle total control module 3 has been previously stored each corresponding circuit radius of point on whole piece circuit.Assume
The distance of the upper beacon distance circuit starting point that vehicle passes by be s1, the positional distance circuit starting point being presently in away from
From for s (t), the time interval passing by apart from vehicle during a upper beacon is t, and in this period simultaneously, value v (t) of speed is always
It is all knowable, then have
Vehicle total control module 3 finds the bending of circuit herein according to now vehicle distances circuit starting point apart from s (t)
Radius r (t).
Refer to Fig. 2, the present invention also provides a kind of control method of elevated wide electric vehicle turning control system, including following
Step；
Step S1：The position letter of the inboard wheel of the current driving velocity amplitude of collection vehicle and vehicle and outboard wheels
Breath.Specifically, the Negotiation speed acquisition module 1 and position determination module 2 current driving speed of collection vehicle and adopting respectively
In collection vehicle relative to inboard wheel and outboard wheels positional information it is possible to understand that above- mentioned information be sent to vehicle respectively
Total control module 3.
Step S2：Determine in vehicle relative to inboard wheel and outboard wheels between midpoint on vehicle traveling track
Arc radius value.Specifically, in the vehicle that vehicle total control module 3 collects according to position determination module 2 relative to inner side car
The positional information of wheel and outboard wheels is determining the midpoint between the inboard wheel of vehicle and outboard wheels in vehicle traveling track
On arc radius value.
Step S3：Calculate inboard wheel and the linear velocity reaching needed for outboard wheels.Specifically, vehicle total control module 3
Arc radius value on vehicle traveling track for the midpoint between inboard wheel according to vehicle and outboard wheels and vehicle
Travel speed calculates inboard wheel and the linear velocity reaching needed for outboard wheels, more specifically, when the vehicle is turning, if inner side
The preset lines velocity amplitude of wheel is vi, the preset lines velocity amplitude of outboard wheels is vo, the travelling speed value of vehicle is v, relative
Half distance value between inboard wheel and outboard wheels is to advance in vehicle in the midpoint between d, inboard wheel and outboard wheels
Arc radius value on track be r, now, vehicle around the angular velocity omega=v/r of bend place circle centre position, vi and vo respectively with
Following relation is met between v, d and r：
Vi=ω * (r-d)=(1-d/r) * v；
Vo=ω * (r+d)=(1+d/r) * v.
Step S4：Inboard wheel drive module 4 and outboard wheels drive module 5 is controlled to export in predetermined drive force
Side wheel and outboard wheels reach required for linear velocity it is ensured that vehicle does not have horizontal sliding, structure is simple, low cost and
Control accuracy is high.Specifically, the inboard wheel calculating drive module 4 and outboard wheels are driven mould by vehicle total control module 3
The linear velocity reaching needed for block 5 sends to sub- control module 6, and sub- control module 6 is according to inboard wheel drive module 4 and outside car
The linear velocity that reaches needed for wheel drive module 5 is corresponding control inboard wheel drive module 4 and outboard wheels drive module 5 export pre-
Fixed driving force, drive force inboard wheel and outboard wheels reach required linear velocity.
The invention has the beneficial effects as follows：
The elevated wide electric vehicle turning control system of the present invention and control method can make when elevated wide electric vehicle is turned
The inboard wheel of elevated wide electric vehicle and outboard wheels reach required linear velocity it is ensured that vehicle does not have horizontal sliding, knot
Structure is simple, low cost and control accuracy is high.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvement made etc., should be included within the scope of the present invention.
Claims (8)
1. a kind of elevated wide electric vehicle turning control system is it is characterised in that include speed acquisition module (1), position determines mould
Block (2), vehicle total control module (3), inboard wheel drive module (4), outboard wheels drive module (5) and sub- control module
(6), described speed acquisition module (1), described position determination module (2), described inboard wheel drive module (4), described sub- control
Molding block (6) is all connected with described vehicle total control module (3), and described sub- control module (6) drives mould with described inboard wheel
Block (4) and outboard wheels drive module (5) connect；Described speed acquisition module (1) is used for the travel speed of collection vehicle and incites somebody to action
The travel speed of vehicle sends to described vehicle total control module (3), and described position determination module (2) is used for phase in collection vehicle
To positional information on vehicle traveling track of inboard wheel and outboard wheels and the position by inboard wheel and outboard wheels
Information sends to described vehicle total control module (3), and described vehicle total control module (3) is according to inboard wheel and outboard wheels
Positional information determines midpoint between the inboard wheel and outboard wheels arc radius value on vehicle traveling track, described car
Total control module (3) according to arc radius value on vehicle traveling track for the midpoint between inboard wheel and outboard wheels with
And the travel speed of vehicle calculates the linear velocity reaching required for inboard wheel and outboard wheels, and by inboard wheel and outside
The linear velocity reaching required for wheel sends to described sub- control module (6), described sub- control module (6) according to inboard wheel with
The linear velocity described inboard wheel drive module (4) of corresponding control reaching required for outboard wheels and described outboard wheels drive mould
Block (5), exports predetermined drive force inboard wheel and reaches required linear velocity with outboard wheels.
2. elevated wide electric vehicle turning control system as claimed in claim 1 is it is characterised in that in Ackermann steer angle, if interior
The preset lines velocity amplitude of side wheel is vi, the preset lines velocity amplitude of outboard wheels is vo, the travelling speed value of vehicle is v, relative
Inboard wheel and outboard wheels between half distance value be midpoint between d, inboard wheel and outboard wheels in vehicle row
Entering the arc radius value on track is r, and now, around the angular velocity omega=v/r of bend place circle centre position, vi and vo is respectively for vehicle
Following relation is met and v, d and r between：
Vi=ω * (r-d)=(1-d/r) * v；
Vo=ω * (r+d)=(1+d/r) * v.
3. elevated wide electric vehicle turning control system as claimed in claim 1 is it is characterised in that described vehicle total control module
(3) internal memory contains in the routing information of vehicle traveling track and is stored with any one position of place of vehicle traveling track
Place, arc radius value on vehicle traveling track for the midpoint between relative inboard wheel and outboard wheels.
4. elevated wide electric vehicle turning control system as claimed in claim 1 is it is characterised in that described elevated wide electric vehicle has
There are multiple inboard wheels and multiple outboard wheels, multiple inboard wheels are arranged in pairs with multiple outboard wheels, relative inner side car
Wheel and outboard wheels determine position by a position determination module (2).
5. elevated wide electric vehicle turning control system as claimed in claim 4 it is characterised in that each inboard wheel and each
One inboard wheel drive module (4) is passed through respectively on outboard wheels and an outboard wheels drive module (5) drives, relative
The drive that inboard wheel is exported with the inboard wheel drive module (4) corresponding to outboard wheels and outboard wheels drive module (5)
Power is controlled by a described sub- control module (6).
6. elevated wide electric vehicle turning control system as claimed in claim 1 is it is characterised in that described speed acquisition module
(1) it is velocity sensor.
7. elevated wide electric vehicle turning control system as claimed in claim 1 is it is characterised in that described position determination module
(2) it is GPS locator.
8. a kind of control method of elevated wide electric vehicle turning control system is it is characterised in that comprise the following steps；
The inboard wheel of the current driving velocity amplitude of collection vehicle and vehicle and the positional information of outboard wheels；
Determine in vehicle relative to inboard wheel and outboard wheels between arc radius value on vehicle traveling track for the midpoint；
Calculate inboard wheel and the linear velocity reaching needed for outboard wheels；And
Export the linear velocity required for predetermined drive force inboard wheel is reached with outboard wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610857403.7A CN106394544B (en) | 2016-09-27 | 2016-09-27 | Elevated wide electric vehicle turning control system and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610857403.7A CN106394544B (en) | 2016-09-27 | 2016-09-27 | Elevated wide electric vehicle turning control system and its control method |
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| Publication Number | Publication Date |
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| CN106394544A true CN106394544A (en) | 2017-02-15 |
| CN106394544B CN106394544B (en) | 2019-03-08 |
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| CN201610857403.7A Expired - Fee Related CN106394544B (en) | 2016-09-27 | 2016-09-27 | Elevated wide electric vehicle turning control system and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111288919A (en) * | 2020-03-20 | 2020-06-16 | 华通科技有限公司 | Curve traveling system for high-speed rail platform limit |
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| CN106379334B (en) * | 2016-09-27 | 2018-09-25 | 常州新天轨道交通科技有限公司 | Elevated wide electric vehicle turning control system and its control method |
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2016
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| CN101269661A (en) * | 2008-04-22 | 2008-09-24 | 北京交通大学 | Traction transmission system for 100151004070w flatland independent wheel and control method |
| DE102013001973B3 (en) * | 2013-02-05 | 2014-01-16 | Josef Staltmeir | Track guide for high-speed train, has traction motors controlled to optimize operation behavior of driving module and head bogie on railway and backwardly guide head bogie into central position, and sensors arranged in flange of wheel |
| EP2913241A1 (en) * | 2014-02-26 | 2015-09-02 | Bombardier Transportation GmbH | Method for designing a traction unit for a rail vehicle |
| CN105799717A (en) * | 2016-03-09 | 2016-07-27 | 西南交通大学 | Initiative guiding method and initiative guiding device of railway vehicle wheel pair |
| CN106379334B (en) * | 2016-09-27 | 2018-09-25 | 常州新天轨道交通科技有限公司 | Elevated wide electric vehicle turning control system and its control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111288919A (en) * | 2020-03-20 | 2020-06-16 | 华通科技有限公司 | Curve traveling system for high-speed rail platform limit |
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| CN106394544B (en) | 2019-03-08 |
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