Following control method and system of train track and train
A follow-up control and train technology, which is applied to the steering mechanism, vehicle components, and trailer steering mechanism of front and rear tandem vehicles, and can solve problems that endanger the safety of pedestrians and other vehicles
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[0060] The present invention will be further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.
[0061] In this embodiment, the train trajectory following control method, such as Figure 11 As shown, comprise the following steps: S1. obtain the measured value of the front axle steering angle of the first car and the measured value of the rear axle steering angle of the first car; S2. according to the measured value of the front axle steering angle of the first car and Calculate the first angle between the movement direction of the hinge point of the first car and the second car and the axis of the first car from the measured value of the rear axle steering angle of the first car, and calculate the first angle according to the first angle and the front of the first car The measured value of the axle steering angle calculates the input value of the rear axle ...
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