CN110244731B - Active tracking control method for three-section marshalling virtual rail train - Google Patents

Active tracking control method for three-section marshalling virtual rail train Download PDF

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Publication number
CN110244731B
CN110244731B CN201910530460.8A CN201910530460A CN110244731B CN 110244731 B CN110244731 B CN 110244731B CN 201910530460 A CN201910530460 A CN 201910530460A CN 110244731 B CN110244731 B CN 110244731B
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vehicle
carriage
car
train
central axis
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CN110244731A (en
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陆海英
杨蔡进
吴冬
郭璇
郭艳秋
张成铭
曾厚铭
张众华
张德华
徐焱
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Southwest Jiaotong University
CRRC Changchun Railway Vehicles Co Ltd
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CRRC Changchun Railway Vehicles Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means

Abstract

The invention provides an active tracking control method for a three-section marshalling virtual rail train, and belongs to the technical field of intelligent vehicle control. The method specifically comprises the following steps: (1) the virtual rail train main controller reads the virtual rail information through the head train and the tail train cameras and judges whether the train is separated from the track; (2) calculating the steering angles of the axles of the head car and the tail car required for the tracking operation of the car according to the offset of the car relative to the track; (3) determining the turning radius and the instant speed center of the head vehicle and the tail vehicle according to the vehicle size parameters and the turning angles of the shafts of the head vehicle and the tail vehicle, and calculating to obtain the instant speed center of the middle vehicle; (4) calculating the steering angle of each axle wheel of the intermediate vehicle according to the vehicle size parameters, the turning radius of the head vehicle and the tail vehicle and the speed instant center of the intermediate vehicle; (5) and the virtual rail train tracking controller controls each steering motor according to the target steering angle of each axle wheel to realize the tracking operation of the vehicle.

Description

Active tracking control method for three-section marshalling virtual rail train
Technical Field
The invention belongs to the technical field of intelligent vehicle control, and particularly relates to a control method for controlling tracking operation of a virtual rail train.
Background
The virtual rail train system is used as a brand-new non-wheel-rail contact guiding transportation system in a public road right operation environment, has the advantages of short construction period, low investment cost, flexible operation organization, energy conservation, environmental protection and the like, can meet the increasing diversified outgoing demands of people, and has wide market prospect.
Although the main aim of vehicle tracking operation is initially realized by the existing virtual rail train, the tracking operation still has problems, such as low control precision, operation key node control required by a driver, and the like. Although a vehicle active tracking control method is disclosed in patent application No. CN201710174916.2, the method is only suitable for a common intelligent vehicle, and is not suitable for a virtual rail train with a long and large vehicle body connected in a multi-section hinged manner.
Disclosure of Invention
The invention aims to provide an active tracking control method for a three-section marshalling virtual rail train, which can effectively solve the technical problem of tracking operation of a long and large train body and a plurality of sections of marshalling vehicles.
The purpose of the invention is realized by the following technical scheme: an active tracking control method for a three-section marshalling virtual rail train specifically comprises the following steps:
acquiring position information of a current vehicle relative to a virtual track through a camera at the head end of a virtual track train;
step two, preliminarily calculating to obtain shaft rotation angles of a first train and a tail train required by a train regression track according to the position information of the current train relative to the virtual track by using a shortest path principle; the vehicle tracking control point is arranged at the middle point of the central axis of the vehicle, and the steering angles of front axles and rear axles of the first vehicle and the rear vehicle are equal and opposite; the instantaneous center M of the speed of the first vehicle is obtained by the steering angle of each axle wheel of the first vehicle and the tail vehicle and the Ackerman steering geometry principle1Instantaneous center of speed M of the stern car3；
Step three, the hinging force between all carriages of the whole train of the virtual rail train is minimum, and the two adjacent carriages are arranged at the hinging point G1The speed directions of the two carriages are the same, and the speed instant center M of the virtual rail train intermediate car carriage is obtained based on the principle2The speed instant center is at the front hinge point G passing through the middle car compartment1Instantaneous center of sum velocity M1Straight line G of1M1And through the rear hinge point G of the middle car carriage2Instantaneous center of sum velocity M3Straight line G of2M3On the intersection point; then, the central axis of the first vehicle and G1M1Angle alpha of1Comprises the following steps:
Figure GDA0002989613300000011
in the formula: r1Indicating the turning radius of the front axle of the head, l indicating the distance from the front axle to the rear axle of the car, lRIndicating the distance from the rear axle of the car to the rear end of the car, and subscript R indicating the rear of the car; from the central axis of the first vehicle to G1M1Angle alpha of1Deriving a straight line G1M1The included angle between the central axis of the middle vehicle carriage and the central axis of the middle vehicle carriage is beta1＝α1-ψ1Wherein ψ1The included angle between the central axis of the first carriage and the central axis of the middle carriage is measured by a sensor; obtaining the central axis and the straight line G of the carriage of the trailer in the same way2M2Angle alpha of2：
Figure GDA0002989613300000021
In the formula: r6Indicating the turning radius of the rear axle of the tail car; from a straight line G2M2Included angle alpha with central axis of carriage of tail car2Straight line G is obtained by calculation2M2The included angle between the central axis of the middle vehicle carriage and the central axis of the middle vehicle carriage is beta2＝α2+ψ2Wherein ψ2The included angle between the central axis of the carriage of the tail car and the central axis of the carriage of the middle car is set; from the above two angles beta1,β2Calculate to obtainLine G1M1And G2M2Angle xi ═ beta1-β2(ii) a Deriving the line segment R from the included angleM2G1And RM2G2Is expressed as:
Figure GDA0002989613300000022
Figure GDA0002989613300000023
wherein lFThe distance from the front axle of the carriage to the front end of the carriage is shown, and the subscript F shows the front of the carriage; adopting positive and negative decision coefficient S of steering angle2And judging the positive and negative of the rotation angle of each wheel of the middle carriage, wherein the expression is as follows:
Figure GDA0002989613300000024
wherein R isM2G1Representing line segment M2G1Subscript M2G1 denotes line segment M2G1(ii) a Obtaining the center turning radius R of the front axle of the compartment of the intermediate vehicle according to the positive and negative judgment coefficients3：
Figure GDA0002989613300000025
According to the turning radius R of the center of the front axle3Further deducing and obtaining the steering angle of the front axle of the compartment of the intermediate vehicle
Figure GDA0002989613300000026
Figure GDA0002989613300000027
The turning radius R of the rear axle of the middle vehicle compartment is derived in the same way4：
Figure GDA0002989613300000028
According to the turning radius R of the rear axle of the compartment of the intermediate vehicle4Deducing and obtaining the steering angle of the rear axle of the carriage of the intermediate car
Figure GDA0002989613300000029
Figure GDA00029896133000000210
And step four, transmitting the steering angles of all the axles of the carriage obtained by deduction calculation to a steering motor controller of all the axles according to a virtual rail train tracking controller arranged in the first train, and controlling the steering of all the axles by the steering motor controller to enable the virtual rail train to return to the track so as to finish a tracking control target.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic view of the steering geometry of each train section of the virtual rail train of the present invention;
FIG. 3 is a graph showing the tracking effect of Matlab according to the present invention;
Detailed Description
The following describes embodiments of the present invention in detail with reference to the drawings.
A method for controlling active tracking of a virtual rail train, comprising the following specific steps as shown in fig. 1.
And (1) obtaining the road condition in front of the current operation of the virtual rail train. First, a virtual track on a road is identified by using a central axis of a vehicle as a reference through sensors such as cameras mounted on a front vehicle and a rear vehicle of the vehicle, and the offset of the central axis of the vehicle relative to the virtual track is acquired. If the offset is less than a certain value, the current tracking operation of the vehicle is considered, and the following steps are not needed. If the offset is larger than a certain value, the vehicle is considered to be deviated from the track, and tracking control is required, and the offset is introduced into the following step as a control input quantity of the vehicle.
And (2) acquiring the offset of the vehicle relative to the virtual track, and calculating the steering angles of the first vehicle and the tail vehicle on each axle wheel, which are required by the vehicle to return to the track. When the vehicle deviates from the track, the vehicle main controller transmits the deviation amount of the central axis of the vehicle relative to the virtual track to the vehicle tracking controller, and the vehicle tracking controller calculates the steering angles of the axles of the head vehicle and the tail vehicle, which are required by the vehicle to return to the target virtual track. In order to minimize the time for the vehicle to return to the track, the wheels of the front axle and the wheels of the rear axle of the head vehicle and the tail vehicle participate in steering, and the steering angles of the front axle wheels and the rear axle wheels of each vehicle are in the same direction, as shown in fig. 2.
And (3) firstly, calculating the steering angles of the first vehicle and the tail vehicle required by the vehicles to return to the track. According to the displacement deviation e calculated by the vehicle main controllerdAnd angular deviation eθAnd calculating to obtain the steering angle gamma of the front shafts of the first vehicle and the tail vehicle:
γ＝kded+kθeθ (1)
wherein k isdAnd kθIs the corresponding steering coefficient. Turning radius R of front axle of head1And the turning radius R of the rear axle of the tail car6Respectively as follows:
Figure GDA0002989613300000031
Figure GDA0002989613300000032
wherein, γ1The steering angle, gamma, of the front axle of the first vehicle6The steering angle of the rear axle of the tail car. The steering angle of the front axle and the rear axle of the front car and the rear axle of the rear car are in the same direction, so that the steering angle of the front car and the rear axle of the front car is-gamma1The steering angle of the front axle of the tail-vehicle is-gamma6. Assuming that the steering angles of the wheels of each axle of the vehicle are the same, the intersection point of each axle of the vehicle and the central axis of the carriage is AiAnd i is 1 to 6 each of the axles from the front axle to the rear axle, the intersection points a may be usediWheel generationEach wheel on the axle is shown. Deducing to obtain the speed instant center M of the head vehicle according to the steering angle of the front axles and the rear axles of the head vehicle and the rear vehicles obtained by calculation1Instantaneous center of speed M of the stern car3. If the speed directions of the hinged points of the vehicles are the same, the speed instant center M of the intermediate vehicle can be further obtained2. This point is through the hinge point G1Instantaneous center of sum velocity M1Straight line G of1M1And through hinge point G2Instantaneous center of sum velocity M3Straight line G of2M3At the point of intersection. The turning radius R of the rear axle of the first vehicle can be known from the Ackerman turning geometric relation2And the turning radius R of the front axle of the tail car5Respectively with the turning radius R of the front axle of the first vehicle1And the turning radius R of the rear axle of the tail car6Are equal.
And (4) further calculating the steering angle of each axle of the intermediate vehicle. Firstly, calculating the central axis and the straight line G of the first vehicle1M1Angle alpha of1. Assuming that the size parameters of all the vehicles of the virtual rail train are the same, calculating to obtain the central axis of the first vehicle and the straight line G according to a triangle geometric formula1M1Angle alpha of1Comprises the following steps:
Figure GDA0002989613300000033
wherein R is1Is the steering radius of the front axle of the first vehicle, l is the distance from the front axle to the rear axle of the carriage, lRThe subscript R indicates the rear of the car, which is the distance from the car rear axle to the car rear end. According to the central axis of the first vehicle and the straight line G1M1Angle alpha of1Further derivation yields line G1M1Included angle beta with central axis of the intermediate vehicle1＝α1-ψ1Wherein ψ1The included angle between the central axis of the first carriage and the central axis of the middle carriage is measured by a sensor. The central axis and the straight line G of the tail car are derived in the same way2M2Angle alpha of2：
Figure GDA0002989613300000041
In the formula, R6The turning radius of the rear axle of the tail car. According to the central axis and the straight line G of the tail car2M2Angle alpha of2Deriving a straight line G2M2The included angle between the central axis of the intermediate vehicle is beta2＝α2+ψ2Wherein ψ2The included angle between the central axis of the carriage of the tail car and the central axis of the carriage of the middle car. According to the above-mentioned two angles beta1,β2To obtain a straight line G1M1And G2M2Angle xi ═ beta1-β2。
According to the straight line G1M1And G2M2The included angle xi is derived to obtain a line segment RM2G1And RM2G2Is expressed as:
Figure GDA0002989613300000042
Figure GDA0002989613300000043
in the formula IFIndicating the distance from the front axle of the car to the front end of the car, and subscript F indicates the front of the car.
Since the steering angle of each axle of the vehicle is divided into positive and negative, the positive and negative of the steering angle need to be determined by calculation, and the calculation process is as follows. Firstly, calculating a positive and negative judgment coefficient S of the front axle angle of the intermediate vehicle2：
Figure GDA0002989613300000044
In the formula, RM2G1Representing line segment M2G1Length of (2), subscript M2G1Representing line segment M2G1. Determining coefficient S according to positive and negative rotation angles2Deriving the length R of the center turning radius of the front axle of the intermediate vehicle based on the triangle geometry theorem3：
Figure GDA0002989613300000045
According to R3And RM2G1To obtain the steering angle of the front axle of the intermediate vehicle
Figure GDA0002989613300000046
Figure GDA0002989613300000047
The steering angle of the rear axle of the intermediate vehicle can be obtained in the same manner. Turning radius R of rear axle of intermediate vehicle4Comprises the following steps:
Figure GDA0002989613300000048
steering angle of rear axle of intermediate vehicle
Figure GDA0002989613300000049
Comprises the following steps:
Figure GDA00029896133000000410
and (5) processing the steering angles of the axles obtained by the calculation into control signals through a tracking controller, and respectively transmitting the control signals to the steering motor controllers of the axles to enable the steering motors to drive the wheels to rotate, thereby completing the whole control process. The control effect is shown in fig. 3. The control method can enable the virtual rail train to realize a rapid and accurate tracking operation target, and enable the vehicle to rapidly return to the rail when the vehicle deviates from the rail due to interference, and has higher engineering application value.

Claims (1)

1. An active tracking control method for a three-section marshalling virtual rail train comprises the following steps:
acquiring position information of a current vehicle relative to a virtual track through a camera at the head end of a virtual track train;
step two, preliminarily calculating to obtain shaft rotation angles of a first train and a tail train required by a train regression track according to the position information of the current train relative to the virtual track by using a shortest path principle; the vehicle tracking control point is arranged at the middle point of the central axis of the vehicle, and the steering angles of front axles and rear axles of the first vehicle and the tail vehicle are equal and opposite; the instantaneous center M of the speed of the first vehicle is obtained by the steering angle of each axle wheel of the first vehicle and the tail vehicle and the Ackerman steering geometry principle1Instantaneous center of speed M of the stern car3；
Step three, the hinge force between each carriage of the whole train of the virtual rail train is set to be minimum, and the two adjacent carriages are arranged at the hinge point G1The speed directions of the two carriages are the same, and the speed instant center M of the virtual rail train intermediate car carriage is obtained based on the principle2Said instantaneous center of velocity M2At the front hinge point G of the middle car carriage1Instantaneous center of sum velocity M1Straight line G of1M1And through the rear hinge point G of the middle car carriage2Instantaneous center of sum velocity M3Straight line G of2M3On the intersection point; then, the central axis of the first vehicle and G1M1Angle alpha of1Comprises the following steps:
Figure FDA0002989613290000011
in the formula: r1Indicating the turning radius of the front axle of the head, l indicating the distance from the front axle to the rear axle of the car, lRIndicating the distance from the rear axle of the car to the rear end of the car, and subscript R indicating the rear of the car; from the central axis of the first vehicle to G1M1Angle alpha of1Deriving a straight line G1M1The included angle between the central axis of the middle vehicle carriage and the central axis of the middle vehicle carriage is beta1＝α1-ψ1Wherein ψ1The included angle between the central axis of the first carriage and the central axis of the middle carriage is measured by a sensor; obtaining the central axis and the straight line G of the carriage of the trailer in the same way2M2Angle alpha of2：
Figure FDA0002989613290000012
In the formula: r6Indicating the turning radius of the rear axle of the tail car; from a straight line G2M2Included angle alpha with central axis of carriage of tail car2Straight line G is obtained by calculation2M2The included angle between the central axis of the middle vehicle carriage and the central axis of the middle vehicle carriage is beta2＝α2+ψ2Wherein ψ2The included angle between the central axis of the carriage of the tail car and the central axis of the carriage of the middle car is set; from the above two angles beta1,β2Calculating to obtain a straight line G1M1And G2M2Angle xi ═ beta1-β2(ii) a Deriving R from the angleM2G1And RM2G2Is expressed as:
Figure FDA0002989613290000013
Figure FDA0002989613290000014
wherein lFThe distance from the front axle of the carriage to the front end of the carriage is shown, and the subscript F shows the front of the carriage; adopting positive and negative decision coefficient S of steering angle2Judging the positive and negative of the corner of each wheel of the compartment of the intermediate vehicle, wherein the expression is as follows:
Figure FDA0002989613290000015
wherein R isM2G1Representing line segment M2G1Subscript M2G1 denotes line segment M2G1(ii) a Obtaining the center turning radius R of the front axle of the compartment of the intermediate vehicle according to the positive and negative judgment coefficients3：
Figure FDA0002989613290000016
According to the turning radius R of the center of the front axle3Further deducing and obtaining the steering angle of the front axle of the compartment of the intermediate vehicle
Figure FDA0002989613290000017
Figure FDA0002989613290000021
The turning radius R of the rear axle of the middle vehicle compartment is derived in the same way4：
Figure FDA0002989613290000022
According to the turning radius R of the rear axle of the compartment of the intermediate vehicle4Deducing and obtaining the steering angle of the rear axle of the carriage of the intermediate car
Figure FDA0002989613290000024
Figure FDA0002989613290000023
And step four, transmitting the steering angles of all the axles of the carriage obtained by deduction calculation to a steering motor controller of all the axles according to a virtual rail train tracking controller arranged in the first train, and controlling the steering of all the axles by the steering motor controller to enable the virtual rail train to return to the track so as to finish a tracking control target.
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CN111547111B (en) * 2020-05-22 2021-04-13 西南交通大学 Autonomous guiding control method for virtual rail train
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