CN114701533A - Steering error calibration control method applied to multi-connecting-rod type active radial bogie - Google Patents
Steering error calibration control method applied to multi-connecting-rod type active radial bogie Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/38—Arrangements or devices for adjusting or allowing self- adjustment of wheel axles or bogies when rounding curves, e.g. sliding axles, swinging axles
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Abstract
The invention discloses a steering error calibration control method applied to a multi-connecting-rod type active radial bogie, which comprises the following processes: when the train starts to drive into a turning track, the central controller sends a steering command to the servo electric push rod, so that the servo electric push rod drives the multi-link transmission mechanism to act to drive the wheel pair to deflect by taking the two-wheel centering line and the track circle center as a radial steering center, and the central controller acquires the actual deflection angle of the wheel pair in real time through the axle box displacement sensor and carries out real-time compensation adjustment according to the deviation of the actual deflection angle and the expected deflection angle. The invention greatly reduces the bogie transformation cost, effectively reduces the abrasion of wheel tracks, reduces the abrasion of wheel sets, improves the precision and real-time performance of active steering, ensures the running stability of trains, and ensures the precision and reliability of the steering function of the active radial bogie.
Description
Technical Field
The invention relates to the technical field of bogies, in particular to a steering error calibration control method applied to a multi-connecting-rod type active radial bogie.
Background
Along with the running speed of the railway vehicle is faster and faster, and the transported weight is increased continuously, the running stability, the radial steering capacity and the riding comfort of the vehicle are deteriorated, and further, the steel rail is abraded and the wheels are damaged. Over the years, some researchers have proposed and designed radial bogies to reduce wheel-rail wear by resolving the conflict between curve-passing performance and operational stability. Therefore, the concept of the active radial bogie is provided, autonomous radial steering can be realized when the bogie runs on a curve track, the curve passing performance is improved, the rigid impact of wheels and steel rails is reduced, the abrasion of wheel rails and the damage of the wheels are reduced, and the service life of wheel sets is prolonged. However, the application of the current active radial bogie on the railway vehicle is still very rare due to the large control difficulty, the high implementation difficulty and the overhigh modification cost. The multi-link mechanism suitable for the bogie can greatly reduce the cost, but the problem that the left and right steering mechanisms are asynchronous easily caused by assembly gaps or deformation of the multi-link mechanism is solved.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a steering error calibration control method applied to a multi-link type active radial bogie aiming at the defects in the prior art, so that the bogie transformation cost is greatly reduced, the abrasion of wheel tracks is effectively reduced, the abrasion of wheel sets is reduced, the accuracy and the real-time performance of active steering are improved, the running stability of a train is ensured, and the accuracy and the reliability of the steering function of the active radial bogie are ensured.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a steering error calibration control method applied to a multi-link type active radial bogie comprises a multi-link transmission mechanism, a central controller, a servo electric push rod and an axle box displacement sensor, wherein the multi-link transmission mechanism, the central controller, the servo electric push rod and the axle box displacement sensor are arranged on the bogie;
the steering error calibration control method comprises the following specific processes: when the train starts to drive into a turning track, the central controller sends a steering command to the servo electric push rod, so that the servo electric push rod drives the multi-link transmission mechanism to act to drive the wheel pair to deflect by taking the two-wheel centering line and the track circle center as a radial steering center, and the central controller acquires the actual deflection angle of the wheel pair in real time through the axle box displacement sensor and carries out real-time compensation adjustment according to the deviation of the actual deflection angle and the expected deflection angle.
According to the technical scheme, the servo electric push rods are provided with pulse encoders, the central controller is connected with the pulse encoders, data of the pulse encoders are read, and actual elongation of the two sets of servo electric push rods is calculated in real time according to the read data;
the central controller can read the data of the axle box displacement sensor and calculate the actual deflection angle of the wheel pair in real time.
According to the technical scheme, the central controller comprises a data processing module, a steering error calibration control module and a control processing module, the output end of the control processing module is connected with the servo electric push rod, the input end of the data processing module is connected with the servo electric push rod and the axle box displacement sensor, and the output end of the data processing module is connected with the input end of the control processing module through the steering error calibration control module.
According to the technical scheme, the steering error calibration control module calculates the deviation by adopting a fuzzy PID algorithm.
According to the technical scheme, the multi-link transmission mechanism comprises a driving connecting rod, a steering rotating arm, a front wheel steering connecting rod, a rear wheel steering connecting rod and a rotary joint, wheel shafts of front wheels and rear wheels are connected with a steering frame through axle boxes, the steering rotating arm is provided with the rotary joint, the steering rotating arm is arranged on the steering frame through the rotary joint and rotates around the rotary joint, one end of the steering rotating arm is hinged to one end of the driving connecting rod, the other end of the driving connecting rod is connected with a servo electric push rod, the other end of the steering rotating arm is hinged to one end of the rear wheel steering connecting rod, the other end of the rear wheel steering connecting rod is connected with the axle boxes of the rear wheels, one end of the front wheel steering connecting rod is connected with the axle boxes of the front wheels, and the other end of the front wheel steering connecting rod is hinged to the middle end of the steering rotating arm.
According to the technical scheme, the servo electric push rod is arranged above the axle box, the upper end of the steering rotating arm is connected with the driving connecting rod, the middle end of the steering rotating arm is connected with the front wheel steering connecting rod, and the lower end of the steering rotating arm is connected with the rear wheel steering connecting rod;
the servo electric push rod in one multi-connecting-rod transmission mechanism is arranged above the axle box of the front wheel, and the servo electric push rod in the other multi-connecting-rod transmission mechanism is arranged above the axle box of the rear wheel.
According to the technical scheme, the length of the front wheel steering connecting rod is equal to that of the rear wheel steering connecting rod;
the rotary joint is positioned at the intersection of the connecting line of the front wheel axle center and the rear wheel axle center and the steering rotating arm, and is positioned at the center of the end point connected with the front wheel steering connecting rod and the end point connected with the rear wheel steering connecting rod.
According to the technical scheme, the servo electric push rod comprises a motor, a gear box and a lead screw, the output end of the motor is connected with the lead screw through the gear box, and the lead screw is connected with the driving connecting rod of the multi-connecting-rod transmission mechanism.
According to the technical scheme, the specific process of the steering error calibration control method comprises the following steps:
s1, the central controller receives a steering instruction sent by an external upper computer;
s2, the control processing module sends out a control instruction to control the servo electric push rods on the two sides of the bogie to actuate;
s3, actuating the servo electric push rod to drive the driving connecting rod to force the steering rotating arm to deflect so as to drive the steering connecting rod to push or pull the wheel pair;
s4, reading data of a pulse encoder on the servo electric push rod by the central controller, and calculating to obtain the telescopic displacement of the servo electric push rod;
s5, reading data of the axle box displacement sensor by the central controller, and calculating to obtain an actual wheel pair deflection angle;
s6, the central processing unit corrects the actual wheel set deflection angle and the expected wheel set deflection angle, when deviation exists, a control parameter is obtained through calculation of a fuzzy PID algorithm, the central processing unit sends out a control command according to the control parameter to enable the servo electric push rod to actuate, and drives the bogie multi-link transmission mechanism to make an adjusting action, so that the wheel set deflects and is ensured to be in a radial position;
and S7, repeating the steps 4-6 until the deviation disappears, wherein the actual wheel set deflection angle is equal to the expected wheel set deflection angle.
According to the above technical solution, after the step S7, the method further includes the following steps: and S8, the central controller receives the steering command sent by the upper computer again, and the process 1-7 is repeated, so that a complete control process is formed, the active radial steering of the active radial bogie is realized, and the problem that the left and right steering mechanisms are asynchronous due to the assembly clearance or deformation of the multi-link mechanism in the steering command executing process of the left and right steering mechanisms of the bogie is solved.
The invention has the following beneficial effects:
the invention can realize real-time detection of the operation condition of the servo electric push rod and the deflection condition of the wheel set, carry out compensation control, ensure that the wheel set is in a radial position, eliminate the problem that the left and right sets of multi-link transmission mechanisms are asynchronous caused by assembly clearance or deformation of the multi-link transmission mechanisms in the process of executing a steering command of the left and right sets of radial steering mechanisms of the bogie, realize active radial steering, effectively reduce the abrasion of wheel rails while greatly reducing the reconstruction cost of the bogie, reduce the abrasion of the wheel set, improve the precision and real-time performance of the active steering, simultaneously ensure the running stability of a train, detect the actual elongation of the servo electric push rod in real time by the central controller, acquire the actual deflection angle of the wheel set in real time through the axle box displacement sensor, carry out real-time adjustment according to the deviation of the actual deflection angle and the expected deflection angle, drive the electric push rod to carry out adjustment action after the calculation of the steering error calibration control module, the problem that the left and right steering mechanisms are asynchronous due to assembly gaps or deformation of the multi-connecting-rod mechanism in the steering command executing process of the left and right sets of radial steering mechanisms of the bogie is solved, and the accuracy and the reliability of the steering function of the active radial bogie are guaranteed.
Drawings
FIG. 1 is a perspective view of a multi-link active radial bogie in an embodiment of the present invention;
FIG. 2 is a front view of a multi-link active radial bogie in an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a servo electric putter in an embodiment of the present invention;
FIG. 4 is a flow chart illustrating control of a multi-link active radial bogie according to an embodiment of the present invention;
in the figure, 1-multi-link transmission mechanism, 2-central controller, 3-servo electric push rod, 4-axle box displacement sensor, 5-driving link, 6-steering tumbler, 7-front wheel steering link, 8-rear wheel steering link, 9-roller screw, 10-pulse encoder, 11-gear box and 12-motor.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1 to 4, in an embodiment of the present invention, a steering error calibration control method applied to a multi-link active radial bogie is provided, where the multi-link active radial bogie includes an active radial steering multi-link transmission mechanism 1 disposed on the bogie, a central controller 2 having a steering error calibration function, a servo electric push rod 3, and an axle box displacement sensor 4, two sets of the multi-link transmission mechanism 1 and the servo electric push rod 3 are respectively disposed on two sides of the bogie, the servo electric push rod 3 is connected to the multi-link transmission mechanism 1 on the same side (i.e., the multi-link transmission mechanism 1 and the servo electric push rod 3 are disposed on two sides of the bogie), the multi-link transmission mechanism 1 is connected to an axle box of the bogie on the corresponding side, and the central controller 2 is connected to the servo electric push rod 3 and the axle box displacement sensor 4;
the steering error calibration control method comprises the following specific processes: when the train starts to drive into the turning track, the central controller 2 sends a steering instruction to the servo electric push rod 3, so that the servo electric push rod 3 drives the multi-link transmission mechanism 1 to act to drive the wheel pair to deflect by taking the two-wheel alignment line and the track circle center as the radial steering center, thereby realizing the radial steering function, the central controller 2 detects the actual extension amount of the servo electric push rod in real time, the actual deflection angle of the wheel pair is acquired in real time through the axle box displacement sensor 4, real-time adjustment is carried out according to the deviation of the actual deflection angle and the expected deflection angle, the electric push rod is driven to carry out adjustment action after calculation of the steering error calibration control module, the problem that the left and right steering mechanisms of the left and right sets of radial steering mechanisms of the bogie are asynchronous due to assembly clearance or deformation of the multi-link mechanism in the steering instruction executing process is solved, and the accuracy and the reliability of the steering function of the active radial bogie are guaranteed.
Furthermore, a pulse encoder is arranged on the servo electric push rods 3, the central controller 2 is connected with the pulse encoder, the data of the pulse encoder are read, and the actual elongation of the two sets of servo electric push rods 3 is calculated in real time according to the read data through a built-in model;
the central controller 2 can read the data of the 4 axle box displacement sensors and calculate the actual deflection angle of the wheel pair in real time through a built-in model.
Furthermore, the number of the axle box displacement sensors is 4, the axle box displacement sensors are arranged on axle box of the front and rear pair wheels, and two axle boxes are arranged at two ends of an axle of one pair wheel.
Furthermore, the central controller 2 comprises a data processing module, a steering error calibration control module and a control processing module, wherein the output end of the control processing module is connected with the servo electric push rod 3, the input end of the data processing module is connected with the servo electric push rod 3 and the axle box displacement sensor 4, and the output end of the data processing module is connected with the input end of the control processing module through the steering error calibration control module; the input end of the control processing module can also receive an external steering signal, the steering error calibration control module can carry out operation according to data transmitted by the data processing module and feed back a result to the control processing module, and the control processing module sends out a control instruction to enable the servo electric push rod 3 to actuate.
Further, the steering error calibration control module calculates the deviation by adopting a fuzzy PID algorithm.
Further, the multi-link transmission mechanism 1 comprises a driving link, a steering rotating arm, a front wheel steering link, a rear wheel steering link and a rotary joint, wheel shafts of front and rear wheels are connected with a bogie through axle boxes, the steering rotating arm is provided with the rotary joint, the steering rotating arm is arranged on the bogie through the rotary joint and rotates around the rotary joint, one end of the steering rotating arm is hinged with one end of the driving link, the other end of the driving link is connected with a servo electric push rod 3, the other end of the steering rotating arm is hinged with one end of the rear wheel steering link, the other end of the rear wheel steering link is connected with the axle box of the rear wheel, one end of the front wheel steering link is connected with the axle box of the front wheel, and the other end of the front wheel steering link is hinged with the middle end of the steering rotating arm; when a train is about to drive into a curve, the central controller transmits an instruction to enable the servo electric push rod 3 to work, the servo electric push rod 3 drives the driving connecting rod to move, the driving connecting rod further drives the steering rotating arm to move, and finally the steering rotating arm drives the steering connecting rod to move so that the wheel pair generates angle deviation in the axle box, a better curve fitting rate is obtained, and active steering is achieved.
Furthermore, a servo electric push rod 3 is arranged above the axle box, the upper end of a steering rotating arm is connected with a driving connecting rod, the middle end of the steering rotating arm is connected with a front wheel steering connecting rod, and the lower end of the steering rotating arm is connected with a rear wheel steering connecting rod;
the servo electric push rod 3 in one multi-link transmission 1 is arranged above the axle box of the front wheel, and the servo electric push rod 3 in the other multi-link transmission 1 is arranged above the axle box of the rear wheel.
Furthermore, the steering connecting rod and the axle box, the steering rotating arm and the steering connecting rod, the steering rotating arm and the driving connecting rod and the servo electric push rod are hinged through universal joints.
Further, the length of the front wheel steering connecting rod is equal to that of the rear wheel steering connecting rod;
the rotary joint is positioned at the intersection of the connecting line of the front wheel axle center and the rear wheel axle center and the steering rotating arm, and is positioned in the center of the end point connected with the front wheel steering connecting rod and the end point connected with the rear wheel steering connecting rod.
Further, two multi-link transmission mechanisms 1 are arranged on two sides of the bogie and are in mirror symmetry with the sagittal plane of the bogie, and each multi-link transmission mechanism 1 is separately connected with a corresponding servo electric push rod 3.
Furthermore, the servo electric push rod comprises a motor 12, a gear box 11 and a lead screw 9, wherein the output end of the motor 12 is connected with the lead screw 9 through the gear box 11, and the lead screw is connected with a driving connecting rod of the multi-connecting-rod transmission mechanism 1; the gear box 11 is a reduction gear box, the screw 9 is a roller screw mechanism, and the motor is provided with a pulse encoder 10.
The specific process of the steering error calibration control method comprises the following steps:
s1, the central controller 2 receives a steering instruction sent by an external upper computer;
s2, the control processing module sends out a control instruction to control the servo electric push rods 3 on the two sides of the bogie to actuate;
s3, actuating the servo electric push rod 3 to drive the driving connecting rod 5 to force the steering rotating arm 6 to deflect so as to drive the steering connecting rod 7 to push or pull the wheel pair;
s4, reading data of a pulse encoder on the servo electric push rod by a data processing module of the central controller 2, and calculating by a built-in model to obtain the telescopic displacement of the servo electric push rod 3;
s5, reading data of the axle box displacement sensor 4 by a data processing module of the central controller 2, and calculating to obtain an actual wheel pair deflection angle through a built-in model;
s6, a steering error calibration module arranged in the central processing unit calibrates the actual wheel set deflection angle and the expected wheel set deflection angle, when deviation exists, a control parameter is obtained through calculation of a fuzzy PID algorithm, a control processing unit of the central processing unit sends a control instruction according to the control parameter to enable a servo electric push rod 3 to actuate, a multi-link transmission mechanism 1 of the bogie is driven to do adjustment action, the wheel set is deflected, and the wheel set is ensured to be in a radial position;
and S7, repeating the steps 4-6 until the deviation disappears, wherein the actual wheel set deflection angle is equal to the expected wheel set deflection angle.
The method further comprises the following steps after the step S7: and S8, when the central controller 2 receives the steering instruction sent by the upper computer again, repeating the process 1-7, thus forming a complete control process, realizing the active radial steering of the active radial bogie, and eliminating the problem that the left and right steering mechanisms are asynchronous due to the assembly clearance or deformation of the multi-link mechanism in the steering instruction executing process of the left and right steering mechanisms of the bogie.
Furthermore, in the turning process of the train, the multi-connecting-rod structures on the two sides work in a coordinated mode, the front and rear wheel steering rotating arms on the same side move the same distance in opposite directions, the wheel axle angle is continuously adjusted, the extension lines of the front and rear wheel axles are made to intersect at the circle center of the curve track, the track curve attaching rate of the train during turning is improved, and the optimal turning effect is achieved.
In step S3, the servo electric push rod 3 located inside the bogie is pushed outward, so that the front end of the front wheel steering link and the rear end of the rear wheel steering link in the multi-link transmission mechanism 1 on the same side are pulled inward, the wheel pair is driven to be angularly offset in the axle box, the inner wheel track is reduced, and the multi-link transmission mechanism 1 located outside the bogie performs reverse motion, so that the outer wheel track is increased.
In conclusion, compared with the prior art, the active radial bogie and the active steering control method thereof provided by the invention have the advantages that the design is reasonable, and the method is simple and practical; the rotating speed of the motor is detected through the single chip microcomputer, the rotating speed of the motor can be accurately controlled, the wheel pair displacement is detected through the displacement sensor and fed back to the central processing unit, the deflection angle of the wheel pair can be detected in real time, the motor is controlled to rotate again according to the deviation through the fuzzy PID controller, the wheel pair is pushed or pulled, the wheel pair can be ensured to be located at the radial position, the influence of external factors is not easily received, and the stability is high; the servo electric push rod is actuated to drive the driving connecting rod to force the steering rotating arm to deflect so as to drive the steering connecting rod to push or pull the wheel pair, so that the wheel pair deflects.
The above are only preferred embodiments of the present invention, and it is needless to say that the scope of the present invention is not limited by these embodiments, and therefore, the present invention is still within the scope of the present invention by the equivalent changes made in the claims of the present invention.
Claims (10)
1. The steering error calibration control method is characterized in that the multi-link type active radial bogie comprises a multi-link transmission mechanism (1), a central controller (2), a servo electric push rod (3) and an axle box displacement sensor (4), wherein the multi-link transmission mechanism (1) and the servo electric push rod (3) are arranged on the bogie respectively, the servo electric push rod (3) is connected with the multi-link transmission mechanism (1) on the same side, the multi-link transmission mechanism (1) is connected with an axle box of the bogie wheel on the corresponding side, and the central controller (2) is connected with the servo electric push rod (3) and the axle box displacement sensor (4) respectively;
the steering error calibration control method comprises the following specific processes: when a train starts to drive into a turning track, the central controller (2) sends a steering instruction to the servo electric push rod (3), so that the servo electric push rod (3) drives the multi-link transmission mechanism (1) to act to drive the wheel pair to deflect by taking a two-wheel centering line and a track circle center as a radial steering center, and the central controller (2) acquires the actual deflection angle of the wheel pair in real time through the axle box displacement sensor (4) and carries out real-time compensation adjustment according to the deviation of the actual deflection angle and an expected deflection angle.
2. The steering error calibration control method applied to the multi-link type active radial bogie according to claim 1, characterized in that the servo electric push rod (3) is provided with a pulse encoder, the central controller (2) is connected with the pulse encoder, reads data of the pulse encoder, and calculates actual elongation of the two sets of servo electric push rods (3) in real time according to the read data;
the central controller (2) can read the data of the axle box displacement sensor and calculate the actual deflection angle of the wheel pair in real time.
3. The steering error calibration control method applied to the multi-link active radial bogie according to claim 1, wherein the central controller (2) comprises a data processing module, a steering error calibration control module and a control processing module, the output end of the control processing module is connected with the servo electric push rod (3), the input end of the data processing module is connected with the servo electric push rod (3) and the axle box displacement sensor (4), and the output end of the data processing module is connected with the input end of the control processing module through the steering error calibration control module.
4. The steering error calibration control method applied to the multi-link active radial bogie according to claim 3, wherein the steering error calibration control module calculates the deviation by using a fuzzy PID algorithm.
5. The steering error calibration control method for a multi-link active radial bogie as claimed in claim 1, the multi-link transmission mechanism is characterized in that the multi-link transmission mechanism (1) comprises a driving connecting rod, a steering rotating arm, a front wheel steering connecting rod, a rear wheel steering connecting rod and a rotary joint, wheel shafts of front wheels and rear wheels are connected with a bogie through axle boxes, the steering rotating arm is provided with the rotary joint, the steering rotating arm is arranged on the bogie through the rotary joint and rotates around the rotary joint, one end of the steering rotating arm is hinged with one end of the driving connecting rod, the other end of the driving connecting rod is connected with a servo electric push rod (3), the other end of the steering rotating arm is hinged with one end of the rear wheel steering connecting rod, the other end of the rear wheel steering connecting rod is connected with the axle boxes of the rear wheels, one end of the front wheel steering connecting rod is connected with the axle boxes of the front wheels, and the other end of the front wheel steering connecting rod is hinged with the middle end of the steering rotating arm.
6. The steering error calibration control method applied to a multi-link active radial bogie according to claim 5, characterized in that the servo electric push rod (3) is disposed above the axle box, the upper end of the steering arm is connected to the driving link, the middle end is connected to the front wheel steering link, and the lower end is connected to the rear wheel steering link;
the servo electric push rod (3) in one multi-connecting-rod transmission mechanism (1) is arranged above the axle box of the front wheel, and the servo electric push rod (3) in the other multi-connecting-rod transmission mechanism (1) is arranged above the axle box of the rear wheel.
7. The steering error calibration control method applied to the multi-link active radial bogie according to claim 5, wherein the front wheel steering link and the rear wheel steering link are equal in length;
the rotary joint is positioned at the intersection of the connecting line of the front wheel axle center and the rear wheel axle center and the steering rotating arm, and is positioned in the center of the end point connected with the front wheel steering connecting rod and the end point connected with the rear wheel steering connecting rod.
8. The steering error calibration control method applied to the multi-link active radial bogie according to claim 1, characterized in that the servo electric push rod comprises a motor (12), a gear box (11) and a lead screw (9), wherein the output end of the motor (12) is connected with the lead screw (9) through the gear box (11), and the lead screw is connected with the driving link of the multi-link transmission mechanism (1).
9. The steering error calibration control method applied to the multi-link active radial bogie according to claim 5, characterized in that the specific process of the steering error calibration control method comprises the following steps:
s1, the central controller (2) receives a steering instruction sent by an external upper computer;
s2, the control processing module sends out a control instruction to control the servo electric push rods (3) on the two sides of the bogie to actuate;
s3, actuating the servo electric push rod (3) to drive the driving connecting rod (5) to force the steering rotating arm (6) to deflect so as to drive the steering connecting rod (7) to push or pull the wheel pair;
s4, the central controller (2) reads the data of the pulse encoder on the servo electric push rod and calculates to obtain the telescopic displacement of the servo electric push rod (3);
s5, reading data of the axle box displacement sensor (4) by the central controller (2), and calculating to obtain an actual wheel pair deflection angle;
s6, the central processing unit corrects the actual wheel set deflection angle and the expected wheel set deflection angle, when deviation exists, a control parameter is obtained through calculation of a fuzzy PID algorithm, the central processing unit sends out a control command according to the control parameter to enable the servo electric push rod (3) to actuate, the multi-link transmission mechanism (1) of the bogie is driven to make an adjusting action, the wheel set is deflected, and the wheel set is ensured to be in a radial position;
and S7, repeating the steps 4-6 until the deviation disappears, wherein the actual wheel set deflection angle is equal to the expected wheel set deflection angle.
10. The steering error calibration control method for the multi-link active radial bogie according to claim 9, further comprising the following steps after step S7: and S8, the central controller (2) receives the steering instruction sent by the upper computer again, and the process from 1 to 7 is repeated, so that a complete control process is formed, the active radial steering of the active radial bogie is realized, and the problem that the left and right steering mechanisms are asynchronous due to the assembly clearance or deformation of the multi-link mechanism in the steering instruction executing process of the left and right steering mechanisms of the bogie is solved.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115195801A (en) * | 2022-08-11 | 2022-10-18 | 中车青岛四方机车车辆股份有限公司 | Bogie active radial system, control method, bogie and railway vehicle |
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| CN115195801A (en) * | 2022-08-11 | 2022-10-18 | 中车青岛四方机车车辆股份有限公司 | Bogie active radial system, control method, bogie and railway vehicle |
| CN115195801B (en) * | 2022-08-11 | 2023-12-26 | 中车青岛四方机车车辆股份有限公司 | Bogie active radial system, control method, bogie and railway vehicle |
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