The invention relates to an intelligent trackless train wheel steering angle control method. In all the vehicles of the trackless train, the vehicle running at the first position is called a tractor, and the other vehicles are called trailers. Among all wheels of the train, front wheels of the tractor and all rear wheels of the train are driving steering wheels, and other wheels are follow-up steering wheels. When the train runs, steering of front wheels of the tractor is controlled by a driver, other active steering wheels of the train run along with the track of the front wheels of the tractor, and the steering angles of all the active steering wheels are determined accordingly. Any follow-up steering wheel of each vehicle has the same speed instantaneous center as the two driving steering wheels adjacent in front and back, and the steering angle of the wheel can be calculated according to the speed instantaneous center. According to the wheel steering angle control method, it can be effectively guaranteed that all the vehicles of the train keep moving collaboration, and the potential safety hazards such as stress distortion and wheel sideslip of the wheels are avoided.
本发明涉及一种智能无轨列车车轮转向角控制方法。所述无轨列车各车辆中,行驶于首位的车辆称为牵引车,其余车辆称为挂车。列车所有车轮中,牵引车前轮及所有车辆后轮为主动转向轮,其余车轮为随动转向轮。在列车行驶时,牵引车前轮由驾驶员控制转向,列车的其余主动转向轮均跟随牵引车前轮轨迹行驶,并据此确定所述各主动转向轮的转向角。所述各车辆任一随动转向轮应同与之前后相邻的所述两个主动转向轮具有相同的速度瞬心,并可据此推算该车轮的转向角。本发明所述车轮转向角控制方法可有效地保证列车各车辆保持运动协同,避免车轮发生受力扭曲,车轮侧滑等安全隐患。
Intelligent trackless train wheel steering angle control method
一种智能无轨列车车轮转向角控制方法
2023-04-07
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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