The invention provides a rail vehicle independent rotating wheel active guiding control method and device, and the method comprises the steps: a rotating speed difference target value calculation step: obtaining a rotating speed difference target value according to the wheel diameter parameter of a target wheel pair, the line turning radius and the vehicle real-time speed; an active guiding torque instruction value calculation step: inputting the rotating speed difference target value and the actual motor rotating speed difference of the target wheel pair into a PI controller for PI algorithm adjustment to obtain an active guiding torque instruction value; a traction torque compensation instruction value calculation step: obtaining a traction torque compensation instruction value according to the torque distribution coefficient and a vehicle distribution traction torque instruction value; a control torque command value calculation step: obtaining a first control torque command value and a second control torque command value according to the active guide torque command value and the traction torque compensation command value; and a control step: controlling the first wheel according to the first control torque instruction value, and controlling the second wheel according to the second control torque instruction value.
本发明提供一种轨道车辆独立旋转车轮主动导向控制方法及装置,包括:转速差目标值计算步骤:根据目标轮对的轮径参数、线路转弯半径及车辆实时速度,得到转速差目标值;主动导向转矩指令值计算步骤:将转速差目标值与目标轮对的电机实际转速差输入PI控制器进行PI算法调整,得到主动导向转矩指令值;牵引转矩补偿指令值计算步骤:根据转矩分配系数及车辆分配牵引转矩指令值,得到牵引转矩补偿指令值;控制转矩指令值计算步骤:根据主动导向转矩指令值及牵引转矩补偿指令值,得到第一控制转矩指令值及第二控制转矩指令值;控制步骤:根据第一控制转矩指令值对第一车轮进行控制,根据第二控制转矩指令值对第二车轮进行控制。
Active guiding control method and device for independent rotating wheels of railway vehicle
轨道车辆独立旋转车轮主动导向控制方法及装置
2024-05-28
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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