The invention discloses a full-axle steering control method and system for a multi-marshalling virtual rail vehicle, and the method comprises the steps: dividing a multi-axle rail vehicle into a plurality of steering geometric regions, and carrying out the weak coupling of the set steering geometric regions through a speed instantaneous center collinear method; according to the geometrical relationship, determining the rotation angle relationship of each shaft in each steering geometrical region; at least one tracking control point is selected for each steering area, the rotating angle of a certain shaft in each steering geometric area is determined through the deviation of the tracking control points, and the rotating angles of other shafts in the steering geometric area are obtained according to the rotating angle relation of all the shafts in the steering geometric area; and full-axle steering of the multi-marshalling virtual rail vehicle is controlled based on the obtained rotation angles of all the axles. According to the invention, mutual coordination under steering geometry can be realized, so that each wheel runs through a curve in a coordinated manner, and the running stability of the vehicle is improved.
本发明公开了一种多编组虚拟轨道车辆的全轴转向控制方法及系统,包括:将多轴轨道车辆划分为多个转向几何区域,对设定的转向几何区域通过速度瞬心共线的方法弱耦合到一起;根据几何关系确定每一个转向几何区域内各轴转角关系;每一个转向区域选取至少一个循迹控制点,通过循迹控制点偏差确定每一个转向几何区域内某一轴的转角,根据所述的转向几何区域内各轴转角关系得到该转向几何区域内其他轴的转角;基于得到的各轴转角控制多编组虚拟轨道车辆的全轴转向。本发明能够实现各转向几何下的互相协调,使各轮协调运行通过曲线,提高车辆运行稳定性。
Full-axle steering control method and system for multi-marshalling virtual rail vehicle
一种多编组虚拟轨道车辆的全轴转向控制方法及系统
2023-09-01
Patent
Electronic Resource
Chinese
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