CN111976751B - Steering auxiliary system based on intelligent rail train transverse acceleration and control method - Google Patents

Steering auxiliary system based on intelligent rail train transverse acceleration and control method Download PDF

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CN111976751B
CN111976751B CN202010870006.XA CN202010870006A CN111976751B CN 111976751 B CN111976751 B CN 111976751B CN 202010870006 A CN202010870006 A CN 202010870006A CN 111976751 B CN111976751 B CN 111976751B
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steering
rail train
wheel
auxiliary control
intelligent rail
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CN111976751A (en
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曲双
彭勇
王兴华
姚松
余伟锋
张成铭
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Central South University
CRRC Changchun Railway Vehicles Co Ltd
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Central South University
CRRC Changchun Railway Vehicles Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

The invention discloses a steering auxiliary system and a control method based on the transverse acceleration of an intelligent rail train, wherein the steering auxiliary system comprises an automatic tracking switch, a train body information acquisition device, a track recognition device, a steering auxiliary control device, an active steering device and a driving device; the automatic tracking switch is used for starting or closing automatic tracking; the train body information acquisition device is used for acquiring the motion parameters of the intelligent rail train and sending the motion parameters to the steering auxiliary control device; the track recognition device is used for collecting and processing the image information of the preset road mark and sending the information to the steering auxiliary control device; and the steering auxiliary control device is used for controlling the active steering device and the driving device to adjust the advancing of the intelligent rail train according to the received motion parameters and the road surface preset marking image information. The steering auxiliary system and the control method can avoid the possible side slipping/tail drifting situation of the towed vehicle when the intelligent rail train turns at a high speed or passes through a curve and the problem that the intelligent rail train in a long marshalling mode is difficult to turn a small curve.

Description

Steering auxiliary system based on intelligent rail train transverse acceleration and control method
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a steering auxiliary system and a control method based on the transverse acceleration of an intelligent rail train.
Background
Urban traffic is a mark for measuring urban civilization progress and is a life pulse of urban life. With the development of social economy and the improvement of the living standard of people, the quantity of motor vehicles kept is increased rapidly, so that the urban traffic environment is deteriorated, the traffic efficiency of a road network is reduced, and the traffic of main/auxiliary roads is slow. The long-time and large-area congestion not only affects the daily life and work of people, but also causes the urban pollution to be more serious, and becomes a bottleneck restricting the urban economy and social development. The urban traffic trip mode is innovated, the urban traffic trip efficiency is improved, and the urban traffic trip mode becomes a difficult problem to be solved urgently in the research field of urban traffic trip.
As shown in fig. 5, the smart rail train has dual attributes of rail transit and ground public transit, and has been widely focused by many research institutes at home and abroad because of less interference sources and easy implementation of the autopilot technology and the smart internet technology on the smart rail train due to its traveling on a specific route.
However, the current intelligent rail train has low running carrying capacity, the running speed is always maintained at about 30km/h, the number of groups is only 3, and the requirement of urban traffic trip cannot be met. Therefore, higher running speeds, more marshalling numbers are the inevitable consequence of future development of smart rail trains. However, higher operating speeds and longer vehicle combinations result in reduced operating stability of the smart rail train and more stringent operating conditions. Such as when a smart rail train changes direction at a higher speed or travels on a curve, it may be subject to a situation in which it is being towed to swing back and forth from side to side. Or at the intersection with a smaller turning radius, the intelligent rail train is difficult to pass due to insufficient turning capacity.
Therefore, a more intelligent steering assist system is urgently needed to improve the operation carrying capacity and the operation stability of the intelligent rail train.
Disclosure of Invention
The invention mainly aims to provide a steering auxiliary system and a control method based on the lateral acceleration of a smart rail train, which can effectively avoid the possible side slipping/tail slipping situation of a towed vehicle when the smart rail train changes direction at a high speed or passes through a curve and the problem that the long marshalling smart rail train is difficult to turn a small curve.
In order to achieve the aim, the invention provides a steering auxiliary system based on the transverse acceleration of an intelligent rail train, which comprises an automatic tracking switch, a train body information acquisition device, a track recognition device, a steering auxiliary control device, an active steering device and a driving device, wherein the automatic tracking switch is connected with the train body information acquisition device;
the automatic tracking switch is connected with the steering auxiliary control device and used for starting or closing automatic tracking;
the vehicle body information acquisition device is connected with the steering auxiliary control device and used for acquiring motion parameters of the intelligent rail train after the automatic tracking switch is started and sending the motion parameters to the steering auxiliary control device, wherein the motion parameters comprise train speed, speed of each wheel, transverse acceleration of each section of vehicle body, steering angle of a steering wheel, steering angle of each wheel and torque of each wheel;
the track recognition device is connected with the steering auxiliary control device and used for collecting and processing road surface preset marking image information after the automatic tracking switch is started and sending the processed road surface preset marking image information to the steering auxiliary control device;
the steering auxiliary control device is used for controlling the active steering device and the driving device to adjust the advancing of the intelligent rail train according to the received motion parameters and the road surface preset marking image information;
the active steering device is connected with the steering auxiliary control device and is used for independently controlling the steering angle of each wheel of the intelligent rail train;
and the driving device is connected with the steering auxiliary control device and is used for independently controlling the rotating torque of each wheel of the intelligent rail train.
Furthermore, the steering auxiliary control device comprises a steering auxiliary control module and an operation signal detection module, the vehicle body information acquisition device, the track recognition device, the active steering device and the driving device are all connected with the steering auxiliary control module, the operation signal detection module is connected with the steering auxiliary control module, and the automatic tracking switch is connected with the operation signal detection module.
Further, the vehicle body information acquisition device includes:
the vehicle speed sensor is connected with the steering auxiliary control module and used for acquiring the vehicle speed of the intelligent rail train and sending the vehicle speed information to the steering auxiliary control module;
the wheel speed sensor is connected with the steering auxiliary control module and used for acquiring the speed of each wheel of the intelligent rail train and sending the speed information of each wheel to the steering auxiliary control module;
the transverse acceleration sensor is connected with the steering auxiliary control module and used for acquiring the transverse acceleration of each train body of the intelligent rail train and sending the transverse acceleration information of each train body to the steering auxiliary control module;
the steering wheel steering angle sensor is connected with the steering auxiliary control module and used for acquiring the steering angle of the steering wheel of the intelligent rail train and sending the steering angle information of the steering wheel to the steering auxiliary control module;
the wheel steering angle sensor is connected with the steering auxiliary control module and used for acquiring the steering angle of each wheel of the intelligent rail train and sending the steering angle information of each wheel to the steering auxiliary control module;
and the wheel torque sensor is connected with the steering auxiliary control module and used for acquiring the torque of each wheel of the intelligent rail train and transmitting the torque information of each wheel to the steering auxiliary control module.
Further, the track recognition device comprises a camera and an image processor, the camera is connected with the image processor, the image processor is connected with the steering auxiliary control module, the camera is used for collecting road surface preset marking image information and sending the road surface preset marking image information to the image processor, and the image processor is used for processing the road surface preset marking image information and sending the road surface preset marking image information to the steering auxiliary control module.
Furthermore, the active steering device comprises an active control steering gear and a steering gear controller, the active control steering gear is connected with the steering gear controller, and the steering gear controller is connected with the steering auxiliary control module; the steering controller is used for controlling the active control steering device to act according to the instruction of the steering auxiliary control module so as to independently control the steering angle of each wheel of the intelligent rail train.
Furthermore, the driving device comprises a driving motor and a motor controller, the driving motor is connected with the motor controller, and the motor controller is connected with the steering auxiliary control module; the motor controller is used for controlling the driving motor to rotate according to the instruction of the steering auxiliary control module so as to independently control the rotating torque of each wheel of the intelligent rail train.
According to another aspect of the invention, a steering auxiliary control method based on the lateral acceleration of a smart rail train is provided, which comprises the following steps:
receiving an opening signal of an automatic tracking switch;
the track recognition device collects and processes preset marking line image information and sends the processed preset marking line image information to the steering auxiliary control device; the train body information acquisition device acquires motion parameters of the intelligent rail train and sends the motion parameters to the steering auxiliary control device, wherein the motion parameters comprise train speed, speed of each wheel, transverse acceleration of each train body, steering angle of a steering wheel, steering angle of each wheel and torque of each wheel;
and the steering auxiliary device controls the active steering device and the driving device to adjust the advancing of the intelligent rail train according to the received preset marking line image information and the motion parameters of the intelligent rail train.
Further, the track recognition device collects and processes preset reticle image information, and sends the processed preset reticle image information to the steering auxiliary control device, specifically:
the camera collects preset marking image information, the image processor processes the collected preset marking image information, the advancing direction of each section of the intelligent rail train and the offset corner of the preset marking and the distance between the central axis of each section of the intelligent rail train and the preset marking are calculated, and the offset corner and the distance are sent to the steering auxiliary control device.
Further, the steering auxiliary device controls the active steering device and the driving device to adjust the advancing of the intelligent rail train according to the received preset marking line image information and the motion parameters of the intelligent rail train, and specifically comprises the following steps:
based on the intelligent rail train combination model, the steering auxiliary control module takes the motion parameters of the intelligent rail train as input, calculates the expected delay value between the transverse acceleration of the intelligent rail train tractor and the transverse acceleration of the towed vehicle, and further calculates the reference transverse acceleration of each towed vehicle by using the actual transverse acceleration of the towing vehicle;
the steering auxiliary control module combines the advancing direction of each section of the intelligent rail train and the offset corner of a preset marking, the distance between the central axis of each section of the intelligent rail train and the preset marking, the reference transverse acceleration of each towed vehicle and the motion parameters of the intelligent rail train, and calculates the optimal offset corner to be adjusted, the adjustment speed and the corresponding optimal steering angle to be set by each wheel;
and sending the optimal offset corner and the optimal adjusting speed to be adjusted and the corresponding optimal steering angles to be set by each wheel to the active steering device and the driving device to adjust the advancing of the intelligent rail train.
Further, in the process of adjusting the advancing of the intelligent rail train, if the steering angle of the steering wheel is larger than a set threshold value, starting differential steering control, and entering a hybrid state of ackermann steering and differential steering; the speed difference steering control comprises the following specific steps:
the steering auxiliary control module calculates the difference between the current steering angle of the steering wheel and a set steering angle threshold value;
multiplying the difference value between the current steering angle of the steering wheel and the set steering angle threshold value by a set gain value to obtain the auxiliary torque to be compensated to each wheel of the intelligent rail train;
and transmitting the auxiliary torque to a driving device, controlling the driving motor to generate driving force by a motor controller, and applying the driving force to each wheel of the smart rail train.
Compared with the prior art, the invention has the following beneficial effects:
according to the steering auxiliary system and the control method, the steering angle of each wheel is coordinately distributed based on the transverse acceleration of each train body of the intelligent rail train, so that the backward amplification effect of the maximum transverse acceleration of each train body of the long marshalling intelligent rail train can be effectively reduced; and when the turning radius is smaller, the speed difference steering function is started, and the steering capacity of the intelligent rail train is obviously improved. The steering auxiliary system and the control method can effectively avoid the possible side slipping/tail drifting situation of the towed vehicle when the intelligent rail train turns at a high speed or passes through a curve and the problem that the intelligent rail train in a long marshalling mode is difficult to turn a small curve.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of a steering assist system according to an embodiment of the present invention.
Fig. 2 is a flowchart of a steering assist control method according to an embodiment of the present invention.
Fig. 3 is a flowchart illustrating a method for controlling steering assistance according to an embodiment of the present invention to adjust the progress of the smart rail train.
Fig. 4 is a flowchart of differential steering control in the steering assist control method according to the embodiment of the invention.
Fig. 5 is a schematic diagram of the structure of the smart rail train.
Fig. 6 is a schematic diagram of the deviation angle and distance of the smart rail train compared to the predetermined marked line (in the figure, α is the deviation angle, and d is the distance).
Detailed Description
In order to facilitate an understanding of the invention, the invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of the invention is not limited to the specific embodiments below. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. Unless otherwise defined, all terms of art used hereinafter have the same meaning as commonly understood by one of ordinary skill in the art.
Example 1:
referring to fig. 1, a steering assist system based on the lateral acceleration of a smart rail train according to an embodiment of the present invention is suitable for a smart rail train in which each wheel is driven by an independent driving motor and controlled by an independent active steering controller. As can be seen from the figure, the steering auxiliary system mainly comprises an automatic tracking switch, a vehicle body information acquisition device, a track recognition device, a steering auxiliary control device, an active steering device and a driving device; the automatic tracking switch is connected with the steering auxiliary control device and used for starting or closing the automatic tracking function; the vehicle body information acquisition device is connected with the steering auxiliary control device and used for acquiring motion parameters of the intelligent rail train after the automatic tracking switch is started and sending the acquired motion parameters to the steering auxiliary control device, wherein the motion parameters comprise train speed, speed of each wheel, transverse acceleration of each vehicle body, steering angle of a steering wheel, steering angle of each wheel and torque of each wheel; the track recognition device is connected with the steering auxiliary control device and used for collecting and processing road surface preset marking image information after the automatic tracking switch is started and sending the processed road surface preset marking image information to the steering auxiliary control device; the active steering device and the driving device are both connected with the steering auxiliary control device; the steering auxiliary control device is used for controlling the active steering device and the driving device to adjust the advancing of the intelligent rail train according to the received motion parameters and the processed road surface preset marking image information; the active steering device is used for independently controlling the steering angle of each wheel of the intelligent rail train; the driving device is used for independently controlling the rotating torque of each wheel of the intelligent rail train.
According to the steering auxiliary system based on the transverse acceleration of the intelligent rail train, the steering angles of all wheels are coordinately distributed based on the transverse acceleration of all train bodies of the intelligent rail train, so that the backward amplification effect of the maximum transverse acceleration of all train bodies of the long marshalling intelligent rail train can be effectively reduced; and when the turning radius is smaller, the speed difference steering function is started, and the steering capacity of the intelligent rail train is obviously improved. The steering auxiliary system can effectively avoid the condition that the intelligent rail train sideslips or slips when changing direction at high speed or passing through a curve and the problem that the intelligent rail train with long marshalling is difficult to turn to a small curve.
Specifically, in the present embodiment, the steering assist control device includes a steering assist control module and an operation signal detection module. The operation signal detection module is connected with the steering auxiliary control module; the vehicle body information acquisition device, the track recognition device, the active steering device and the driving device are all connected with the steering auxiliary control module; the automatic tracking switch is connected with the operation signal detection module. The automatic tracking starting signal of the automatic tracking switch is detected by the operating signal detection module, the steering auxiliary control module instructs the vehicle body information acquisition device to acquire the motion parameters of the intelligent rail train and instructs the track recognition device to acquire and process the preset marking image information, the vehicle body information acquisition device transmits the acquired motion parameters of the intelligent rail train to the steering auxiliary control module, and the track recognition device transmits the processed preset marking image information to the steering auxiliary control module; then, the steering auxiliary control module calculates the offset rotation angle and the adjustment speed which are required to be adjusted and the corresponding steering angle of each wheel, and sends the calculation result to the active steering device and the driving device to adjust the advancing of the intelligent rail train; the steering auxiliary control module also judges whether the steering angle of the steering wheel of the intelligent rail train is larger than a set threshold value or not, and starts a speed difference steering function when the steering angle of the steering wheel of the intelligent rail train is larger than the set threshold value.
Specifically, in the present embodiment, the vehicle body information collecting device includes a vehicle speed sensor, a wheel speed sensor, a lateral acceleration sensor, a steering wheel steering angle sensor, a wheel steering angle sensor, and a wheel torque sensor. The intelligent rail train comprises a train speed sensor, a steering auxiliary control module, a train speed sensor and a vehicle speed monitoring module, wherein the train speed sensor is connected with the steering auxiliary control module and used for acquiring the train speed of the intelligent rail train and sending the acquired train speed information to the steering auxiliary control module; the wheel speed sensor is connected with the steering auxiliary control module and used for acquiring the speed of each wheel of the intelligent rail train and sending the acquired speed information of each wheel to the steering auxiliary control module; the transverse acceleration sensor is connected with the steering auxiliary control module and used for acquiring transverse acceleration of each train body of the intelligent rail train and sending the acquired transverse acceleration information of each train body to the steering auxiliary control module; the steering wheel steering angle sensor is connected with the steering auxiliary control module and used for acquiring the steering angle of the steering wheel of the intelligent rail train and sending the acquired steering angle information of the steering wheel to the steering auxiliary control module; the wheel steering angle sensor is connected with the steering auxiliary control module and used for acquiring the steering angle of each wheel of the intelligent rail train and sending the acquired steering angle information of each wheel to the steering auxiliary control module; the wheel torque sensor is connected with the steering auxiliary control module and used for collecting the torque of each wheel of the intelligent rail train and sending the collected torque information of each wheel to the steering auxiliary control module.
In this embodiment, the trajectory recognition device specifically includes a camera and an image processor. The camera is arranged at the bottom of a tractor vehicle of the intelligent rail train and is connected with the image processor, and the image processor is connected with the steering auxiliary control module; the camera is used for collecting road surface preset marking image information and sending the collected road surface preset marking image information to the image processor, and the image processor is used for processing the road surface preset marking image information and sending the processed road surface preset marking image information to the steering auxiliary control module.
In the present embodiment, the active steering device specifically includes an active control steering and a steering controller. The steering device controller is connected with the steering auxiliary control module; the steering controller is used for controlling the active control steering device to act according to the instruction of the steering auxiliary control module, so that the steering angle of each wheel in the intelligent rail train is independently controlled. The driving device specifically comprises a driving motor and a motor controller. The driving motor is connected with a motor controller, and the motor controller is connected with the steering auxiliary control module; the motor controller is used for controlling the driving motor to rotate according to the instruction of the steering auxiliary control module, so that the rotating torque of each wheel in the intelligent rail train is independently controlled.
Example 2:
referring to fig. 2, fig. 3, fig. 4 and fig. 6, a steering assist control method based on the lateral acceleration of the smart rail train according to an embodiment of the present invention is adopted to perform steering assist control on the smart rail train, and the steering assist control method is suitable for the smart rail train in which each wheel is driven by an independent driving motor and controlled by an independent active steering controller. The steering assist control method includes the steps of:
step S1: receiving an opening signal of an automatic tracking switch;
step S2: the track recognition device collects and processes preset marking line image information and sends the processed preset marking line image information to the steering auxiliary control device; the train body information acquisition device acquires motion parameters of the intelligent rail train and sends the motion parameters to the steering auxiliary control device, wherein the motion parameters comprise train speed, speed of each wheel, transverse acceleration of each train body, steering angle of a steering wheel, steering angle of each wheel and torque of each wheel;
step S3: and the steering auxiliary device controls the active steering device and the driving device to adjust the advancing of the intelligent rail train according to the received preset marking line image information and the motion parameters of the intelligent rail train.
Further, in step S2, the trajectory recognition device collects and processes the preset reticle image information, and sends the processed preset reticle image information to the steering assist control device, specifically:
the camera collects preset marking image information, the collected preset marking image information is sent to the image processor, the collected preset marking image information is processed through the image processor, the advancing direction of each section of intelligent rail train and the offset corner of the preset marking and the distance between the central axis of each section of intelligent rail train and the preset marking are calculated, and the offset corner and the distance are sent to the steering auxiliary control device.
Specifically, in step S3, the steering assist device controls the active steering device and the driving device to adjust the advancing of the smart rail train according to the received preset reticle image information and the motion parameters of the smart rail train, and specifically includes the following steps:
step S301: based on the intelligent rail train combination model, the steering auxiliary control module takes the motion parameters of the intelligent rail train as input, calculates the expected delay value between the transverse acceleration of the tractor of the intelligent rail train and the transverse acceleration of the towed vehicle, and further calculates the reference transverse acceleration of each towed vehicle by utilizing the actual transverse acceleration of the towing vehicle;
the calculation method can be described as follows:
Kk＝F(ui,A)
akstandard＝a1+Kk
wherein u isiVehicle speed for the ith wheel; a is an intelligent rail vehicle characteristic matrix; kkIs the delay value of the lateral acceleration of the kth vehicle; a is1Is the lateral acceleration of the first vehicle; a iskstandardThe reference lateral acceleration of the kth vehicle is obtained;
step S302: the steering auxiliary control module combines the advancing direction of each section of the intelligent rail train and the offset corner of a preset marking, the distance between the central axis of each section of the intelligent rail train and the preset marking, the reference transverse acceleration of each towed vehicle and the motion parameters of the intelligent rail train, and calculates the optimal offset corner to be adjusted, the adjustment speed and the corresponding optimal steering angle to be set by each wheel;
specifically, the steering assist control module performs calculation through an optimization algorithm, and the calculation method can be described as follows:
Figure BDA0002650776140000071
wherein alpha iskAn offset corner between the kth vehicle and a preset mark line is formed; djSequentially setting the distance between the central axis of each section of the vehicle and a preset mark line; a iskThe lateral acceleration of the kth vehicle is taken as the acceleration; a iskstandardThe reference lateral acceleration of the kth vehicle is obtained; thetaiThe steering angle of the ith wheel; thetaallowThe maximum steering angle allowed to be adjusted for the intelligent rail vehicle wheels; v is the vehicle speed; v. oflimitLimiting the maximum vehicle speed for the intelligent rail vehicle;
step S303: and the steering auxiliary control module sends the calculated optimal offset rotation angle and the adjustment speed which are to be adjusted and the corresponding optimal steering angle which is to be set by each wheel to the active steering device and the driving device, and the intelligent rail train is adjusted to advance through the active steering device and the driving device.
Further, in step S3 of this embodiment, in the process of adjusting the traveling of the smart rail train, if the steering angle of the steering wheel is greater than the set threshold, the differential steering control is turned on, and the hybrid state of ackermann steering and differential steering is entered; the speed difference steering control comprises the following specific steps:
the steering auxiliary control module calculates the difference between the current steering angle of the steering wheel and a set steering angle threshold value;
multiplying the difference value between the current steering angle of the steering wheel and the set steering angle threshold value by a set gain value to obtain the auxiliary torque to be compensated to each wheel of the intelligent rail train;
and transmitting the auxiliary torque to a driving device, controlling the driving motor to generate driving force by a motor controller, and applying the driving force to each wheel of the smart rail train.
In general, the steering assist system and the control method of the invention collect the image information of the preset marked line through the camera, process the image information of the preset marked line through the image processor, and calculate the deviation angle between the advancing direction of each section of the intelligent rail train and the preset marked line and the distance between the central axis of each section of the intelligent rail train and the preset marked line; acquiring motion parameters such as the speed of the intelligent rail train, the speed of each wheel, the transverse acceleration of each section of train body, the steering angle of a steering wheel, the steering angle of each wheel, the torque of each wheel and the like through a train body information acquisition device;
then, based on the intelligent rail train combination model, the steering auxiliary control module takes the motion parameters of the intelligent rail train as input, calculates an expected delay value between the transverse acceleration of the tractor of the intelligent rail train and the transverse acceleration of the towed vehicle, and further calculates the reference transverse acceleration of each towed vehicle by utilizing the actual transverse acceleration of the towing vehicle;
then the steering auxiliary control module combines the advancing direction of each section of the intelligent rail train with the offset corner of a preset marking, the distance between the central axis of each section of the intelligent rail train and the preset marking, the reference transverse acceleration of each towed vehicle and the motion parameters of the intelligent rail train to calculate the optimal offset corner to be adjusted, the adjustment speed and the corresponding optimal steering angle to be set by each wheel;
and then, the advancing of the intelligent rail train is adjusted through the active steering device and the driving device according to the optimal offset corner and the adjustment speed which are to be adjusted and the corresponding optimal steering angle which is to be set by each wheel.
The steering auxiliary system and the control method coordinate and distribute the steering angle of each wheel based on the transverse acceleration of each train body of the intelligent rail train, and can effectively reduce the backward amplification effect of the maximum transverse acceleration of each train body of the long marshalling intelligent rail train.
In addition, in the process of adjusting the advancing of the smart rail train, when the steering wheel steering angle is larger than a set threshold value (the turning radius of the smart rail train is determined to be small at the moment), the speed difference steering control is started, the driving motor is controlled by the motor controller to generate driving force according to the auxiliary torque to be compensated to each wheel of the smart rail train, the driving force is applied to each wheel of the smart rail train after being reduced by the speed reducer, and the smart rail train is assisted to steer.
The steering auxiliary system and the control method can start a speed difference steering function when the turning radius is smaller, and obviously improve the steering capacity of the intelligent rail train. The steering auxiliary system and the control method can effectively avoid the possible side slipping/tail drifting situation of the towed vehicle when the intelligent rail train turns at a high speed or passes through a curve and the problem that the intelligent rail train in a long marshalling mode is difficult to turn a small curve.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. A steering auxiliary system based on intelligent rail train transverse acceleration is characterized by comprising an automatic tracking switch, a train body information acquisition device, a track recognition device, a steering auxiliary control device, an active steering device and a driving device;
the automatic tracking switch is connected with the steering auxiliary control device and is used for starting or closing automatic tracking;
the vehicle body information acquisition device is connected with the steering auxiliary control device and used for acquiring motion parameters of the intelligent rail train after the automatic tracking switch is started and sending the motion parameters to the steering auxiliary control device, wherein the motion parameters comprise train speed, speed of each wheel, transverse acceleration of each vehicle body, steering angle of a steering wheel, steering angle of each wheel and torque of each wheel;
the track recognition device is connected with the steering auxiliary control device and used for collecting and processing road surface preset marking image information after the automatic tracking switch is started and sending the processed road surface preset marking image information to the steering auxiliary control device;
the steering auxiliary control device is used for controlling the active steering device and the driving device to adjust the advancing of the intelligent rail train according to the received motion parameters and the road surface preset marking image information, and specifically comprises the following steps:
based on the intelligent rail train combination model, the steering auxiliary control module takes the motion parameters of the intelligent rail train as input, calculates the expected delay value between the transverse acceleration of the tractor of the intelligent rail train and the transverse acceleration of the towed vehicle, and further calculates the reference transverse acceleration of each towed vehicle by utilizing the actual transverse acceleration of the towing vehicle;
the calculation method is described as follows:
Kk＝F(ui,A)
akstandard＝a1+Kk
wherein u isiVehicle speed for the ith wheel; a is an intelligent rail vehicle characteristic matrix; kkIs the delay value of the lateral acceleration of the kth vehicle; a is1Is the lateral acceleration of the first vehicle; a iskstandardThe reference lateral acceleration of the kth vehicle is obtained;
the steering auxiliary control module combines the advancing direction of each section of the intelligent rail train and the offset corner of a preset marking, the distance between the central axis of each section of the intelligent rail train and the preset marking, the reference transverse acceleration of each towed vehicle and the motion parameters of the intelligent rail train, and calculates the optimal offset corner to be adjusted, the adjustment speed and the corresponding optimal steering angle to be set by each wheel;
the steering auxiliary control module carries out calculation through an optimization algorithm, and the calculation method is described as follows:
Figure FDA0003081036980000011
wherein alpha iskAn offset corner between the kth vehicle and a preset mark line is formed; djSequentially setting the distance between the central axis of each section of the vehicle and a preset mark line; a iskThe lateral acceleration of the kth vehicle is taken as the acceleration; a iskstandardThe reference lateral acceleration of the kth vehicle is obtained; thetaiThe steering angle of the ith wheel; thetaallowThe maximum steering angle allowed to be adjusted for the intelligent rail vehicle wheels; v is the vehicle speed; v. oflimitLimiting the maximum vehicle speed for the intelligent rail vehicle;
the steering auxiliary control module sends the calculated optimal offset rotation angle and the adjustment speed which are to be adjusted and the corresponding optimal steering angle which is to be set by each wheel to the active steering device and the driving device, and the intelligent rail train is adjusted to advance through the active steering device and the driving device;
the active steering device is connected with the steering auxiliary control device and is used for independently controlling the steering angle of each wheel of the intelligent rail train;
and the driving device is connected with the steering auxiliary control device and is used for independently controlling the rotating torque of each wheel of the intelligent rail train.
2. The system of claim 1, wherein the steering assist control device comprises a steering assist control module and an operation signal detection module, the vehicle body information acquisition device, the track recognition device, the active steering device and the driving device are all connected to the steering assist control module, the operation signal detection module is connected to the steering assist control module, and the automatic tracking switch is connected to the operation signal detection module.
3. The system of claim 2, wherein the vehicle body information collecting device comprises:
the vehicle speed sensor is connected with the steering auxiliary control module and used for acquiring the vehicle speed of the intelligent rail train and sending vehicle speed information to the steering auxiliary control module;
the wheel speed sensor is connected with the steering auxiliary control module and used for acquiring the speed of each wheel of the intelligent rail train and sending the speed information of each wheel to the steering auxiliary control module;
the transverse acceleration sensor is connected with the steering auxiliary control module and used for acquiring the transverse acceleration of each train body of the intelligent rail train and sending the transverse acceleration information of each train body to the steering auxiliary control module;
the steering wheel steering angle sensor is connected with the steering auxiliary control module and used for acquiring the steering angle of the steering wheel of the intelligent rail train and sending the steering angle information of the steering wheel to the steering auxiliary control module;
the wheel steering angle sensor is connected with the steering auxiliary control module and used for acquiring the steering angle of each wheel of the intelligent rail train and sending the steering angle information of each wheel to the steering auxiliary control module;
and the wheel torque sensor is connected with the steering auxiliary control module and used for acquiring the torque of each wheel of the intelligent rail train and sending the torque information of each wheel to the steering auxiliary control module.
4. The system of claim 2, wherein the track recognition device comprises a camera and an image processor, the camera is connected with the image processor, the image processor is connected with the steering auxiliary control module, the camera is used for collecting the road surface preset marking image information and sending the road surface preset marking image information to the image processor, and the image processor is used for processing the road surface preset marking image information and sending the road surface preset marking image information to the steering auxiliary control module.
5. The smart rail train lateral acceleration-based steering assist system of claim 2, wherein the active steering device comprises an active control steering gear and a steering gear controller, the active control steering gear is connected with the steering gear controller, and the steering gear controller is connected with the steering assist control module; the steering controller is used for controlling the active control steering device to act according to the instruction of the steering auxiliary control module so as to independently control the steering angle of each wheel of the intelligent rail train.
6. The system of any one of claims 2-5, wherein the driving device comprises a driving motor and a motor controller, the driving motor is connected with the motor controller, and the motor controller is connected with the steering assist control module; the motor controller is used for controlling the driving motor to rotate according to the instruction of the steering auxiliary control module so as to independently control the rotating torque of each wheel of the intelligent rail train.
7. A steering auxiliary control method based on intelligent rail train lateral acceleration is characterized by comprising the following steps:
receiving an opening signal of an automatic tracking switch;
the track recognition device collects and processes preset marking line image information and sends the processed preset marking line image information to the steering auxiliary control device; the train body information acquisition device acquires motion parameters of the intelligent rail train and sends the motion parameters to the steering auxiliary control device, wherein the motion parameters comprise train speed, speed of each wheel, transverse acceleration of each train body, steering angle of a steering wheel, steering angle of each wheel and torque of each wheel;
the steering auxiliary device controls the active steering device and the driving device to adjust the advancing of the intelligent rail train according to the received preset marking line image information and the motion parameters of the intelligent rail train, and the steering auxiliary device specifically comprises the following steps:
based on the intelligent rail train combination model, the steering auxiliary control module takes the motion parameters of the intelligent rail train as input, calculates the expected delay value between the transverse acceleration of the tractor of the intelligent rail train and the transverse acceleration of the towed vehicle, and further calculates the reference transverse acceleration of each towed vehicle by utilizing the actual transverse acceleration of the towing vehicle;
the calculation method is described as follows:
Kk＝F(ui,A)
akstandard＝a1+Kk
wherein u isiVehicle speed for the ith wheel; a is an intelligent rail vehicle characteristic matrix; kkIs the delay value of the lateral acceleration of the kth vehicle; a is1Is the lateral acceleration of the first vehicle; a iskstandardThe reference lateral acceleration of the kth vehicle is obtained;
the steering auxiliary control module combines the advancing direction of each section of the intelligent rail train and the offset corner of a preset marking, the distance between the central axis of each section of the intelligent rail train and the preset marking, the reference transverse acceleration of each towed vehicle and the motion parameters of the intelligent rail train, and calculates the optimal offset corner to be adjusted, the adjustment speed and the corresponding optimal steering angle to be set by each wheel;
the steering auxiliary control module carries out calculation through an optimization algorithm, and the calculation method is described as follows:
Figure FDA0003081036980000041
wherein alpha iskAn offset corner between the kth vehicle and a preset mark line is formed; djSequentially setting the distance between the central axis of each section of the vehicle and a preset mark line; a iskThe lateral acceleration of the kth vehicle is taken as the acceleration; a iskstandardThe reference lateral acceleration of the kth vehicle is obtained; thetaiThe steering angle of the ith wheel; thetaallowThe maximum steering angle allowed to be adjusted for the intelligent rail vehicle wheels; v is the vehicle speed; v. oflimitLimiting the maximum vehicle speed for the intelligent rail vehicle;
and the steering auxiliary control module sends the calculated optimal offset rotation angle and the adjustment speed which are to be adjusted and the corresponding optimal steering angle which is to be set by each wheel to the active steering device and the driving device, and the intelligent rail train is adjusted to advance through the active steering device and the driving device.
8. The steering auxiliary control method based on the lateral acceleration of the smart rail train as claimed in claim 7, wherein the track recognition device collects and processes the preset reticle image information, and sends the processed preset reticle image information to the steering auxiliary control device, specifically:
the camera collects preset marking image information, the image processor processes the collected preset marking image information, the advancing direction of each section of the intelligent rail train and the offset corner of the preset marking and the distance between the central axis of each section of the intelligent rail train and the preset marking are calculated, and the offset corner and the distance are sent to the steering auxiliary control device.
9. The steering auxiliary control method based on the lateral acceleration of the smart rail train according to claim 7 or 8, characterized in that in the process of adjusting the advancing of the smart rail train, if the steering angle of the steering wheel is larger than a set threshold value, the speed differential steering control is started, and the hybrid state of ackermann steering and speed differential steering is entered; the speed difference steering control comprises the following specific steps:
the steering auxiliary control module calculates the difference between the current steering angle of the steering wheel and a set steering angle threshold value;
multiplying the difference value between the current steering angle of the steering wheel and the set steering angle threshold value by a set gain value to obtain the auxiliary torque to be compensated to each wheel of the intelligent rail train;
and transmitting the auxiliary torque to a driving device, controlling the driving motor to generate driving force by a motor controller, and applying the driving force to each wheel of the smart rail train.
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