Multi-axle steering track follow closed-loop control method for rubber wheel low-floor intelligent rail train

Abstract

The invention discloses a multi-axle steering track follow closed-loop control method for a rubber wheel low-floor intelligent rail train. The multi-axle steering track follow closed-loop control method comprises the steps that firstly, according to a first wheel turn angle delta 1, input by a driver, of a first axle, the rotating angle of a second axle is controlled, and the track of the second axle is superposed with that of the first axle; secondly, the track of a third axle is made to be on the same circular arc with the traction of the second axle and the tract of the first axle to ensure superposition of the tracks by controlling an included angle phi of hinged points, wherein the hinged points are formed between two sections of carriages. The multi-axle steering track follow closed-loop control method has the advantages of being good in control effect, high in stability and the like.

Description

technical field [0001] The invention mainly relates to the field of urban public transportation equipment, in particular to a multi-axis steering track following closed-loop control method suitable for rubber-tyred low-floor intelligent rail trains, so as to realize the track following of each axis during the train's traveling process. Background technique [0002] Urban rail transit refers to a special-line public transportation system with continuous guiding capabilities, which is characterized by having a specific track and vehicles running along the track. Common urban rail transit includes subways, light rails, and trams. Among them, subways and light rails are mostly built underground or on viaducts, and they can run freely in special rail lines by using the blocking mode. Although they have a strong transportation capacity, the initial infrastructure and vehicle purchase costs are relatively high, making them unavailable in small and medium-sized cities. application....

AI Technical Summary

Problems solved by technology

Although the passenger car of the articulated car train has a large passenger capacity, the biggest difference between it and the single passenger car is the change of the road passability caused by the lengthening of the body, which is specifically manifested in the increase of the turning radius and the increase of the lane area occupied by the turn. Large, it is easy to interfere with other elements of the road traffic next to it, so that it cannot pass smoothly, or even worsen the traffic operating environment, and it is impossible to realize public transportation quickly and efficiently

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