[1]严永俊,王金湘,胡云卿,等.智轨电车横向运动预测控制研究[J].控制与信息技术,2020,(02):25.[doi:10.13889/j.issn.2096-5427.2020.02.005]
 YAN Yongjun,WANG Jinxiang,HU Yunqing,et al.Research on Lateral Motion Prediction and Control of Autonomous-rail Rapid Tram[J].High Power Converter Technology,2020,(02):25.[doi:10.13889/j.issn.2096-5427.2020.02.005]
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智轨电车横向运动预测控制研究()
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《控制与信息技术》[ISSN:2095-3631/CN:43-1486/U]

卷:
期数:
2020年02期
页码:
25
栏目:
控制理论与应用
出版日期:
2020-04-05

文章信息/Info

Title:
Research on Lateral Motion Prediction and Control of Autonomous-rail Rapid Tram
文章编号:
2096-5427(2020)02-0025-06
作者:
严永俊 1 王金湘 1 胡云卿 2 袁希文 2 吴梦阳 1 黄瑞鹏 2 王 斌 2
(1. 东南大学 机械工程学院,江苏 南京 211189;2. 中车株洲电力机车研究所有限公司,湖南 株洲 412001)
Author(s):
YAN Yongjun1 WANG Jinxiang1 HU Yunqing2 YUAN Xiwen2 WU Mengyang1 HUANG Ruipeng2 WANG Bin2
( 1. School of Mechanical Engineering, Southeast University, Nanjing, Jiangsu 211189, China; 2. CRRC Zhuzhou Institute Co., Ltd., Zhuzhou, Hunan 412001, China )
关键词:
智轨电车横向运动特性轨迹跟随模型预测控制
Keywords:
autonomous-rail rapid tram lateral dynamics path tracking model predictive control (MPC)
分类号:
U461.2
DOI:
10.13889/j.issn.2096-5427.2020.02.005
文献标志码:
A
摘要:
文章通过分析智轨电车的横向运动特性,将每节车的横摆角速度、横向加速度以及受力联系起来,建立 3 节车辆之间的运动学和动力学关系;提出一种能够反映智轨电车横向动力学特性的 4 自由度线性单轨模型;并将所建立的模型与 Trucksim 中的高精度非线性模型进行对比,验证了所建立模型的有效性及准确性;采用模型预测控制方法进行智轨电车轨迹跟踪控制研究,根据列车行驶过程中的优化目标,确定其评价函数,将多步预测控制问题转化为线性二次型(QP)问题进行求解。仿真结果表明,应用该算法的智轨电车能够达到很好的轨迹跟踪效果。
Abstract:
In this paper, through the analysis of lateral movement characteristics of coach, yaw angular velocity, lateral acceleration, and horizontal force of coaches are integrated to establish the kinematics and dynamics relationships between three coaches. A 4-degree of-freedom (4 DOF) linear monorail coach model which can well reflect the lateral dynamics characteristic of autonomous-rail rapid tram was proposed. In order to verify the validity and accuracy of the proposed model, its performance is compared with that of the high fidelity nonlinear model in Trucksim. In this paper, model predictive control (MPC) method is used to study the path tracking control of autonomous-rail rapid tram. And the evaluation function is determined according to the optimization objective during the running of the tram. The predictive horizon control problem is transformed into a linear quadratic problem (LQP) for solving. Simulation results show that the autonomous-rail rapid tram with this algorithm can achieve a good performance of path tracking.

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备注/Memo

备注/Memo:
收稿日期:2019-08-14
作者简介:严永俊 (1995—),男,硕士研究生,主要研究考虑驾驶员特性的智能车辆路径规划及路径跟踪等。
基金项目:国家重点研发计划(2018YFB1201602)
更新日期/Last Update: 2020-05-08