CN113147897A - Control method and system for automobile train track coincidence - Google Patents
Control method and system for automobile train track coincidence Download PDFInfo
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- CN113147897A CN113147897A CN202110562942.9A CN202110562942A CN113147897A CN 113147897 A CN113147897 A CN 113147897A CN 202110562942 A CN202110562942 A CN 202110562942A CN 113147897 A CN113147897 A CN 113147897A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
- B62D12/02—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames for vehicles operating in tandem
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
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Abstract
The invention provides a control method and a control system for automobile train track coincidence, and relates to the field of mechanical control. The method comprises the following steps: setting control points at a tractor, a last trailer and a connection part of the automobile train; the connecting part comprises a connecting part between the tractor and the adjacent trailer and a connecting part between the two adjacent trailers; acquiring control point data of the tractor, and sequentially calculating data of other control points except the control point of the tractor in the automobile train based on a space mileage consistency principle and a rigid body kinematics principle; and performing track coincidence control on the automobile train according to the calculated data of all control points in the automobile train. According to the method, only control point data of the tractor in the automobile train is needed to be obtained, and the data of all control points in the automobile train can be calculated based on the vehicle kinematics model and the rigid body kinematics principle, so that the steering track control of the automobile train can be realized.
Description
Technical Field
The invention relates to the field of mechanical control, in particular to a method and a system for controlling the coincidence of automobile and train tracks.
Background
A motor train refers to a consist of a tractor and one or more trailers. Compared with a common automobile, the automobile train can effectively improve the traffic carrying capacity. However, the length of the automobile train is long, and the automobile train has a large inner wheel difference during steering driving, so that the maneuverability of the automobile train is poor.
In order to solve the problem of poor maneuverability of an automobile train, a multi-axle steering mode is generally adopted at present, namely, the driving track of the automobile train is corrected by controlling the steering angle of a steering shaft of a rear train.
However, the existing multi-axis steering control strategy has the following problems:
1) when the curvature of the foremost axle track of the automobile train changes, the curvature of the rear wheel also changes, so that at the moment when the curvature radius changes, the curvature radius of the position of the front wheel when the rear wheel runs to the moment is different from the curvature radius of the distance traveled by the front wheel, and the running tracks of the front wheel and the rear wheel are different;
2) the distance between every two coincident control points of the track of the automobile train is required to be equal, that is, if the relationship of the length of the automobile train is not a special multiple or does not have a periodic running track, the consistency of the steering track of each section of the automobile train cannot be ensured, and the track cannot be corrected by controlling the steering consistency of the steering angle of the automobile train, namely, the maneuverability of the automobile is still insufficient.
Therefore, the existing steering control method for the automobile train cannot ensure the complete coincidence of the running tracks of the front wheel and the rear wheel of the automobile train, and further cannot effectively improve the maneuverability of the automobile train.
Disclosure of Invention
In order to solve the problems, the invention provides a method and a system for controlling the superposition of the automobile train tracks. Based on a vehicle kinematics model and a rigid body kinematics principle, the control flexibility of the steering angle of the automobile train can be effectively improved through a mileage-angle control mode, and then the superposition of the steering tracks of the automobile train can be realized, so that the maneuverability of the automobile train is improved.
In order to achieve the purpose, the invention provides the following scheme:
a control method for automobile train track coincidence comprises the following steps:
setting control points at a tractor, a last trailer and a connection part of the automobile train; the connecting part comprises a connecting part between the tractor and the adjacent trailer and a connecting part between the two adjacent trailers;
acquiring control point data of the tractor, and sequentially calculating data of other control points except the control point of the tractor in the automobile train based on a space mileage consistency principle and a rigid body kinematics principle;
and performing track coincidence control on the automobile train according to the calculated data of all the control points in the automobile train.
Optionally, a control point is provided at the front axle of the tractor, and a control point is provided at the rear axle of the last trailer.
Optionally, the connection is connected in a hinged manner.
Optionally, the obtaining of the control point data of the tractor, and sequentially calculating the data of other control points in the automobile train except the control point of the tractor based on a vehicle kinematics model and a rigid body kinematics principle specifically includes:
and acquiring the steering angle and the driving mileage of the tractor, sequentially calculating the steering angle and the driving mileage of other control points in the automobile train except the control point of the tractor based on a vehicle kinematic model and a rigid body kinematic principle, and calculating the speed of each control point.
Optionally, performing track coincidence control on the train car according to the calculated data of all the control points in the train car specifically includes:
and respectively adjusting the steering angle, the driving mileage and the speed of each control point when the automobile train runs to the same spatial position according to the calculated steering angle, the driving mileage and the calculated speed of each control point, so that the driving tracks of the trailer and the tractor of the automobile train are overlapped.
The invention also provides a control system applying the control method for the superposition of the automobile train tracks, which comprises the following steps:
the setting module is used for setting control points at a tractor, the last trailer and a connection part of the automobile train; the connecting part comprises a connecting part between the tractor and the adjacent trailer and a connecting part between the two adjacent trailers;
the calculation module is used for acquiring control point data of the tractor and sequentially calculating data of other control points in the automobile train except the control point of the tractor based on a space mileage consistency principle and a rigid body kinematics principle;
and the main control module is used for carrying out track coincidence control on the automobile train according to the calculated data of all the control points in the automobile train.
Optionally, the setting module sets control points at a front axle of the train tractor and a rear axle of the last trailer.
Optionally, the setting module sets a control point at a hinge position of the connection.
Optionally, the calculation module obtains a steering angle and a driving range of the tractor, sequentially calculates steering angles and driving ranges of other control points in the automobile train except for the control point of the tractor based on a vehicle kinematics model and a rigid body kinematics principle, and calculates a speed of each control point.
Optionally, the main control module adjusts the steering angle, the driving distance and the speed of each control point when the vehicle runs to the same spatial position according to the calculated steering angle, the driving distance and the speed of each control point, so that the driving tracks of the trailer and the tractor of the train are overlapped.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
1) the multi-axle steering control strategy applicable to the single-hinged double-wheel train reduces the number of degrees of freedom of the trailer, enables each carriage to pass through the motion states of two known points, can determine the motion state of the whole carriage, thereby determining the rotation angle of the active steering wheel, and then coordinates the rotation angle of the other steering axle according to the kinematic relationship.
2) The orientation angle of the steering wheel provided by the invention is based on a following steering control algorithm of mileage-angle, namely, the absolute angles of the wheel and the ground are the same when the wheel is at the same position, so that the superposition of tracks in the running process of a train is ensured; meanwhile, the problem that the wheel rotation angles are the same but the movement tracks cannot be completely overlapped when the wheels run to the same moment due to the change of the vehicle speed in the follow-up steering control algorithm based on the time rotation angles is solved, and therefore the track follow deviation is caused.
3) The control strategy of the invention only requires that the steering angles of the wheels running for the same mileage are the same, thereby relaxing the design requirements on the geometric dimension of the single-hinged double-wheel train and the dimension of the distance hinge point between the front axle and the rear axle of the carriage, and avoiding the requirement of equal distance between every two coincident control points of the prior track.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a top view of a turning track of a conventional vehicle for controlling the turning of a train;
FIG. 2 is a comparison graph of sinusoidal tracks of two trains when the train length is doubled;
FIG. 3 is a top view of the turning track of a multi-section train with non-doubled train length;
FIG. 4 is a flow chart of a control method for overlapping the trajectories of trains;
FIG. 5 is a technical roadmap for the overall scheme of the present invention;
FIG. 6 is a schematic view of the present invention illustrating the analysis of the movement of the front axle of the tractor;
FIG. 7 is a schematic view of a driving track before controlling a motor train by using the method for controlling the superposition of motor train tracks in the present invention;
FIG. 8 is a schematic view of a driving track of a motor vehicle controlled by the method for controlling the superposition of the rail tracks of the motor vehicle;
FIG. 9 is a schematic diagram of control points selected to effect trajectory coincidence of trains of automobiles in accordance with the present invention;
FIG. 10 is a schematic diagram illustrating the calculation principle of the present invention for realizing the trajectory coincidence of the trains;
FIG. 11 is a schematic view of a steering process of a motor vehicle train employing a front axle/multi-axle steering control;
fig. 12 is a theoretical basic diagram of the virtual trailer strategy in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Currently, as for the research on the trajectory coincidence control of the automobile train, the zhengzhou mechanical research institute sets forth the control strategies of a double-shaft steering automobile, a single-wheel train and a double-wheel train. For increasingly refined traffic demands, the medium-sized Nanjing Puzhen vehicle company provides a low-floor rubber-tyred self-guiding trackless train in the form of a double-wheel-group train connected by single hinges. The train marshalling is nimble, can carry out the adjustment of carriage festival number according to the capacity, and adopts the mode that single hinge replaces the connecting bridge, can realize two-way driving in front and back, the mobility of effectual improvement train.
In a connecting bridge-double-wheel train control strategy proposed by Zhengzhou mechanical research institute, each carriage has two degrees of freedom. The double wheel sets are steered independently, and two degrees of freedom of the carriage are determined. For a single-hinged-double-wheel train, each carriage has only one degree of freedom, double shafts cannot be independently controlled, and the strategy cannot be applied.
For this train layout, the institute of electric locomotives, midrange, japan, limited, proposed a way to control the trajectory using a hinge point. As described in the technical background, two track coincidence control points are determined for each carriage, and the moving directions of the front control point and the rear control point are equal to the included angle of the carriages and opposite to each other. Therefore, the front control point and the rear control point of the carriage at any moment are on the same arc, and the deviation of the track can be reduced under a simple working condition.
However, this strategy has two problems:
1) the control point steering angles proposed by the strategy are opposite, and the track coincidence cannot be completely realized. As shown in fig. 1, when the curvature of the forwardmost axle path of the train changes, the rear wheel curvature will also change. The radius of curvature of the rear wheel up to the point where the front wheel is located at the moment when the radius of curvature changes is therefore different from the radius of curvature of the path traveled by the front wheel. The travel trajectories thereof are necessarily different.
2) This strategy requires equal distances between every two coincident control points of the trajectory. As shown in fig. 2, the sinusoidal curve in fig. 2 is a track assumed to be traveled by a tractor, the upper half in fig. 2 is a travel situation of the tractor, and the lower half in fig. 2 is a travel situation of a trailer car having a vehicle length twice as long as the tractor. When the tractor runs, the track coincidence control can be completed by ensuring that the front control point and the rear control point are opposite in angle, and when the trailer passes by, the track coincidence control can be completed only by knowing that the steering angles of the front control point and the rear control point are the same as each other according to the graph 2.
That is, complete coincidence of the travel paths of the tractor and the trailer can only be achieved if, as shown in fig. 2, the example is a periodic sinusoidal path and there is a twofold relationship between the vehicle lengths. If the relationship of the vehicle length is not a special multiple or does not have a periodic driving track, the control strategy can not be realized at all.
FIG. 3 shows the situation of the train turning track when the train length calculated by establishing the train model is different.
Therefore, the invention combines the two control strategies to provide a multi-turnaround control strategy suitable for the single-hinged double-wheel-group train, achieves the aim of overlapping the steering tracks of the trackless train in a mileage-angle mode, and can effectively improve the maneuverability of the train.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
FIG. 4 is a flow chart of the method for controlling the overlapping of the rail tracks of the trains of cars according to the present invention, and S1-S3 show the steps of the method. Fig. 5 is an overall technical roadmap for the present invention. As can be seen from fig. 5, the general idea of the present invention is: the steering angle of a first shaft of a tractor in the automobile train is determined through a driver or a navigation system, the steering angles and the speed directions of all other control points of the automobile train are calculated through a vehicle kinematic model, a rigid body kinematic principle and a track coincidence strategy based on collected driving data, and then the steering angle of each control point in the automobile train in the driving process is controlled based on a coordinated steering strategy, so that the driving tracks of the steering angles of the trailer and the tractor in the automobile train are coincided, the inner wheel difference in the driving process of the automobile train is eliminated, and the mobility of the automobile train is improved.
The above-described overall scheme of the present invention will be described in detail with reference to the accompanying drawings and specific formulas.
The invention broadly comprises the steps of:
1) the steering angle of the first shaft of the tractor in the automobile train is determined and input by a driver or a navigation system, and the steering angle and the driving mileage of the first shaft of the tractor are collected.
2) According to the track coincidence theory, the 'mileage-angle' method provided by the invention is adopted to ensure that the included angle between the virtual wheel and the ground at each control point is consistent with the included angle between the first steering axle (the control point 1) of the tractor and the ground when the control points 2, 3 and 4 run to the same space with the control point 1, thereby ensuring the track coincidence of the automobile and the train in the running process.
3) And calculating the speed and direction of the control point of the automobile train by combining the vehicle kinematics model. According to the rigid body kinematics principle, the turning angle condition of the steering shaft of the carriage is calculated on the premise that the speed and the direction of the control points on the two sides of the carriage are known.
4) And 1) through 3), the steering angle of each control point of the automobile train can be calculated, and the steering angle is sent to a steering controller, so that the automobile trains are controlled to run on the same track, and the inner wheel difference in the running process of the automobile trains is eliminated.
The bogie is composed of two axles and a connection point between the two axles. The vehicle kinematics model was analyzed in conjunction with fig. 6 and is shown below. The tractor is analyzed, the two axles of the bogie are connected by adopting a mechanical structure, and a mapping relation exists between the steering angles of the two axles, namely:
δ2＝f(δ1)
wherein, delta1And delta2The steering angle of the two axles of the front axle of the tractor is shown.
At a given psiJ01The mechanical structure has determined delta2. Therein psiJ01The assumed attitude angle of the hinge point of the front vehicle of the tractor and the tractor is shown.
From rigid body kinematics
R0tan(δ1)-R0tan(δ2)＝b
v1cosδ1＝v2cosδ2
v1cos(δ1)＝vJ01cos(ψJ01-ψ0)
R in FIG. 60The parameters are used for auxiliary calculation, and have no practical significance; b represents half of the distance between the 1 st and 2 nd axles in the tractor; psi0Representing an assumed attitude angle of the vehicle in front of the tractor; v. of1Representing the speed of the 1 st axle in the tractor; v. of2Representing the speed of the 2 nd axis in the tractor; v. ofJ01Presentation assumptionsThe speed of the articulation point of the front vehicle of the tractor with the tractor.
Based on the above formula, delta can be calculated1And delta2And thus the movement of the tractor can be determined.
Hinge point J01The mileage S traveled alongJ01And the velocity v corresponding theretoJ01The direction of (A) is stored in a list, the hinge point J12In the velocity direction psiJ12Repeat psiJ01The speed directions of the space mileage are consistent when all the hinge points travel to the same mileage position. Wherein, J12Indicating the point of articulation of the tractor with the second vehicle, psiJ12Representing the attitude angle of the articulation point of the tractor with the second vehicle.
To the towing vehicle, there are
vJ01cos(ψJ01-ψ1)＝vJ12cos(ψJ12-ψ1)
Wherein l1Is a hinge point J01And J12The distance between them. v. ofJ12And its direction psiJ12Desirably, the movement of the tractor can be determined. The solution for the remaining steering angles will be described below.
Fig. 7 shows that before the control strategy of the present invention is adopted, there is a significant difference in inner wheel in the driving trajectory when the motor vehicle train drives on a 90 ° curve, i.e., the driving trajectory between the wheels of the motor vehicle train is severely deviated. Fig. 8 shows the track of the train running on a 90 ° bend after the control strategy of the present invention is adopted, and the track coincidence strategy and the coordinated steering strategy are adopted to control the track coincidence of each control point of the train, so that the difference of the inner wheels of the train in the turning process is avoided.
The core idea of the track coincidence strategy and the coordinated steering strategy is track coincidence control logic, in a motion plane of a top view, the three sections of single-hinged trains have 5 degrees of freedom, and the transverse coordinate and the longitudinal coordinate of the 1 st axis of the head car and the transverse coordinate and the longitudinal coordinate of the head car are respectively takenThe body yaw angle and the included angle of the two bogies are key parameters for describing movement. Wherein the body yaw angle of the head car corresponds to the attitude angle psi of the tractor1The included angle of the two bogies respectively pulls the steering angle delta of the two axles of the front axle1And delta2。
The train shown in fig. 9 is completely symmetrical in front and back, and can run in both front and back directions without difference, so that the 1 st shaft, the 6 th shaft and two hinge points which are symmetrical in the direction of the train body are selected as four control points. The steering angle is given to each axle after the control strategy is calculated, so that the mutual motion interference does not exist, and the four control points finish the target of track coincidence.
In order to control the four hinge points on the same trajectory, an imaginary steering shaft is set at each hinge point: for four control points, when the vehicle travels to the same spatial position, the trajectories of the control points are consistent as long as the speed directions of the control points are consistent.
The steering angle of the 1 st axle is determined by a driver or a guide system, the speed direction of the 6 th axle is determined by a following control algorithm, the wheel orientation angles of the 2 nd, 3 rd, 4 th and 5 th axles are determined by a steering coordination algorithm, and the steering angles (the difference between the wheel orientation and the direction angle of a compartment) of the rest of the vehicles are further determined.
As shown in FIG. 10, the schematic diagram of the calculation principle of the multi-train is shown, and the driver only needs to input the steering angle delta of the imaginary axis during the driving process1And the system can set the steering angles of the rest axles through measurement calculation processing.
Will control point J01Mileage S along its running trackJ01And v corresponding theretoJ01In the direction psiJ01And (4) storing into a list:
ψJ01＝ψ1+δ1；
control point J12In the velocity direction psiJ12Repeat psiJ01When the vehicle runs to the same mileage position through each hinge point, the speed and the direction of the vehicle are controlled to be consistent.
For the first vehicle, there are:
vJ01cos(ψJ01-ψ1)＝vJ12cos(ψJ12-ψ1)
l1is a hinge point J01And J12The distance between them. v. ofJ12And its direction psiJ12The movement of the first vehicle can be determined.
The movement of the train, except for the two end bogies (the head car and the tail car), can be determined by calculation, with the known direction ψ of each hinge point J as an input for the entire train.
The specific calculation formula is as follows:
wherein, delta3Indicating the steering angle, delta, of the rear axle of the tractor4Indicating the steering angle, delta, of the front axle of a first trailer directly connected to the tractor5Indicating the steering angle, delta, of the rear axle of the first trailer6Indicating the steering angle of the front axle of the second trailer; l1Representing a first car length; l2Representing a second car length; l3Representing a third car length; psiJ01Representing an assumed attitude angle of a hinge point of the tractor front vehicle and the tractor; psiJ12To representAn attitude angle of a hinge point of the tractor and the first section of trailer; psiJ23An attitude angle representing a hinge point of the first trailer and the second trailer; psiJ34Representing the attitude angle of a hinge point between the rear shaft of the second trailer and the virtual axle; psi1Representing an attitude angle of the tractor; psi2Representing an attitude angle of the first trailer; psi3Representing an attitude angle of the second trailer; b represents half the distance between the front and rear axles of the car.
Then, v is knownJ34And its direction psiJ34The 7 th shaft steering angle delta can be solved7And 8 th shaft steering angle delta8(corresponding to the steering angle of the front axle and the steering angle of the rear axle of the virtual trailer), there are:
vJ34cos(ψJ34-ψ4)＝v7cosδ7
vJ34cos(ψJ34-ψ4)＝v8cosδ8
δ8＝f(δ7)
wherein psi4Representing an attitude angle of a hinge point between a rear shaft of the second trailer and the virtual axle; v. of7Representing the speed of the rear axle (7 th axle) of the second trailer; v. of8Representing the speed of the virtual axle (8 th axle) at the rear axle of the second trailer; l4Representing the distance between the rear axle of the second trailer and the virtual axle.
Based on the above, the steering angle of the rear axle (7 th axle) of the second trailer can be calculated according to the steering angle of the front axle (6 th axle) of the second trailer, so that the steering angle of the 8 th axle and the attitude angle between the second trailer and the virtual axle can be calculated.
The invention not only considers the control of the steering angle of each carriage of the multi-axle steering automobile train in the stable steering stage, but also considers the control of the steering angle of each carriage of the multi-axle steering automobile train in the transition stage from a straight line to an arc path. The control of the superposition of the wheel tracks of the automobile train is firstly realized on a tractor model. The phase in which the front axle starts to turn and the rear wheels have not yet entered the circular track is defined as the transition phase, as shown in the right diagram of fig. 11.
When the front axle of the vehicle starts to turn, the rear axle is regarded as the front axle of the virtual trailer, and the trailer still runs along the straight track of the tractor. Velocity vrIs controlled by the tractor, according to the relation to the coordinate system, vrThe relative angle to the virtual trailer remains constant throughout, with the following relationships:
δr-g＝θ+δr
wherein, deltar-gIs v isrRelative angle to the virtual trailer, δrThe steering angle of the rear shaft of the tractor is shown, and theta is an included angle formed by hinging the tractor and the virtual trailer. Fig. 12 is a schematic diagram of the theoretical basis of the virtual trailer strategy. Wherein v isfShows the speed, v, of the first vehicle in FIG. 12rShows the speed, v, of the second vehicle in FIG. 12gThe speed of the third vehicle in fig. 12 is shown.
And in the transition stage of virtual trailer strategy execution, when the rear axle of the vehicle reaches the steering starting position, the rear axle receives the steering angle signal of the front wheel and advances along the track of the front wheel. Namely, the steering angle signal of the front shaft of the tractor in the last time period is delayed for a certain time, and is assigned to the steering angle control of the rear shaft of the tractor entering the transition stage. Time t that the steering angle input of the rear axle lags behind the front axle0The time is calculated by measuring the wheel base and the mileage, and is shown as the following formula:
calculated t0Namely the signal switching time; where l represents the car length. The calculated signal switching time controls the steering time of different axles of different carriages so as to control the steering track weight of different axles of the trainAnd (6) mixing.
In summary, the method and system for controlling the coincidence of the trajectories of the trains of the automobiles provided by the invention have the following advantages compared with the prior art:
1) the multi-axle steering control strategy applicable to the single-hinged double-wheel train reduces the number of degrees of freedom of the trailer, enables each carriage to pass through the motion states of two known points, can determine the motion state of the whole carriage, thereby determining the rotation angle of the active steering wheel, and then coordinates the rotation angle of the other steering axle according to the kinematic relationship.
2) The orientation angle of the steering wheel provided by the invention is based on a following steering control algorithm of mileage-angle, namely, the absolute angles of the wheel and the ground are the same when the wheel is at the same position, so that the superposition of tracks in the running process of a train is ensured; meanwhile, the problem that the wheel rotation angles are the same but the movement tracks cannot be completely overlapped when the wheels run to the same moment due to the change of the vehicle speed in the follow-up steering control algorithm based on the time rotation angles is solved, and therefore the track follow deviation is caused.
3) The control strategy of the invention only requires that the steering angles of the wheels running for the same mileage are the same, thereby relaxing the design requirements on the geometric dimension of the single-hinged double-wheel train and the dimension of the distance hinge point between the front axle and the rear axle of the carriage, and avoiding the requirement of equal distance between every two coincident control points of the prior track.
Therefore, the method and the system provided by the invention can enable the steering tracks of all the carriages to be overlapped in the running process of the automobile train, and can effectively improve the maneuverability of the automobile train.
The principle and the implementation of the present invention are explained in the present text by applying specific examples, and the above description of the examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A control method for automobile train track coincidence is characterized by comprising the following steps:
setting control points at a tractor, a last trailer and a connection part of the automobile train; the connecting part comprises a connecting part between the tractor and the adjacent trailer and a connecting part between the two adjacent trailers;
acquiring control point data of the tractor, and sequentially calculating data of other control points except the control point of the tractor in the automobile train based on a space mileage consistency principle and a rigid body kinematics principle;
and performing track coincidence control on the automobile train according to the calculated data of all the control points in the automobile train.
2. The method for controlling superposition of trains trajectories according to claim 1, wherein a control point is provided at the front axle of the tractor and a control point is provided at the rear axle of the last trailer.
3. The method for controlling superposition of trains trajectories according to claim 1, wherein the joints are connected in an articulated manner.
4. The method for controlling superposition of automobile train tracks according to claim 1, wherein obtaining control point data of a tractor, and sequentially calculating data of other control points in the automobile train except the control point of the tractor based on a space-mileage consistency principle and a rigid body kinematics principle specifically comprises:
and acquiring the steering angle and the driving mileage of the tractor, sequentially calculating the steering angle and the driving mileage of other control points in the automobile train except the control point of the tractor based on a space mileage consistency principle and a rigid body kinematics principle, and calculating the speed of each control point.
5. The method for controlling superposition of trains and trains tracks according to claim 4, wherein the controlling of superposition of tracks of trains and trains according to the calculated data of all control points in the trains and trains specifically comprises:
and respectively adjusting the steering angle, the driving mileage and the speed of each control point when the automobile train runs to the same spatial position according to the calculated steering angle, the driving mileage and the calculated speed of each control point, so that the driving tracks of the trailer and the tractor of the automobile train are overlapped.
6. A control system applying a control method for overlapping a train track of a vehicle is characterized by comprising the following steps:
the setting module is used for setting control points at a tractor, the last trailer and a connection part of the automobile train; the connecting part comprises a connecting part between the tractor and the adjacent trailer and a connecting part between the two adjacent trailers;
the calculation module is used for acquiring control point data of the tractor and sequentially calculating data of other control points in the automobile train except the control point of the tractor based on a space mileage consistency principle and a rigid body kinematics principle;
and the main control module is used for carrying out track coincidence control on the automobile train according to the calculated data of all the control points in the automobile train.
7. The control system applying the control method of the auto-train trajectory coincidence as claimed in claim 6, wherein said setting module sets a control point at a front axle of said auto-train tractor and at a rear axle of a last trailer.
8. The control system applying the control method for the superposition of the trajectories of trains of automobiles according to claim 6, wherein the setting module sets the control point at the hinge position of the connection.
9. The control system according to claim 6, wherein the calculation module obtains a steering angle and a driving range of the tractor, calculates the steering angle and the driving range of other control points of the automobile train except the control point of the tractor in sequence based on a space-range consistency principle and a rigid body kinematics principle, and calculates the speed of each control point.
10. The control system of claim 9, wherein the main control module adjusts the steering angle, the mileage and the speed of each control point when the control points travel to the same spatial position according to the calculated steering angle, the mileage and the speed of each control point, so as to coincide the travel tracks of the trailer and the tractor of the train.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110562942.9A CN113147897B (en) | 2021-05-24 | 2021-05-24 | Method and system for controlling superposition of automobile and train tracks |
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