The invention relates to a bridging type trackless train which comprises a plurality of vehicles, a plurality of rotary supporting devices, a plurality of bridging train bodies and a steering control unit. Wherein the vehicle running at the first position is called as a pilot vehicle, the other vehicles are called as following vehicles, and all the vehicles have a steering function; the front end and the rear end of the bridging vehicle body are installed between two adjacent vehicles through the rotary supporting devices respectively and can do yawing motion and pitching motion around the vehicles. The steering of the pilot car is manually controlled; the steering of the following vehicle is controlled by the steering control unit, so that each vehicle runs on the same track; the historical turning angle of the steering shaft of the pilot vehicle is recorded, the turning angle is transmitted to the steering shaft of each following vehicle in a delayed mode according to the distance between each following vehicle and the pilot vehicle and serves as the feedforward steering control quantity of each steering shaft, and the feedback control quantity is calculated based on the track deviation between the front vehicle and the rear vehicle to obtain the feedback steering control quantity of each steering shaft. And steering control can be efficiently and accurately carried out on each following vehicle. On the basis of ingenious combination of the leading vehicle, the bridging vehicle body, the steerable following vehicle and other components and an innovative train steering control method, train steering can be efficiently and accurately controlled, front and rear vehicles can be kept in the same track to automatically run in rows, the train motion characteristics and mechanical characteristics can be optimized, and the train steering control method is suitable for large-scale popularization and application. The sideslip and rollover risks of the train are reduced, and safe and stable operation of the trackless train is effectively guaranteed.

    本发明涉及一种桥接式无轨列车,包括若干车辆、若干回转支撑装置、若干桥接车体和转向控制单元;其中行驶于首位的车辆称为领航车,其余车辆称为跟随车,且所有车辆均具有转向功能;所述桥接车体的前后端分别通过所述回转支撑装置安装于两台相邻的车辆之间,并可绕其做横摆运动和俯仰运动;所述领航车的转向由人工控制;所述跟随车的转向由所述转向控制单元控制,使各车辆行驶于同一轨迹;通过记录领航车转向轴的历史转角,并依据各跟随车与领航车间距离,将该转角延迟传递至各跟随车转向轴并作为各转向轴的前馈转向控制量,加之基于前后车辆间轨迹偏差解算获取的反馈控制量,能够高效精准的对各跟随车进行转向控制。本发明基于所述领航车、所述桥接车体、可转向的所述跟随车和其它构件的巧妙组合,以及创新的列车转向控制方法,既可高效精准控制列车转向,使前后车辆保持同轨迹自动成列行驶,又可优化列车运动特性和力学特性,降低车辆侧滑侧翻风险,有效保障无轨列车安全稳定运行。


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    Title :

    Bridged trackless train and steering control method thereof


    Additional title:

    一种桥接式无轨列车及其转向控制方法


    Contributors:
    LIU BIN (author)

    Publication date :

    2025-02-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge