[1]黄 松,刘小聪,彭 京,等.智轨电车全轴导向系统的位置伺服控制方法研究[J].控制与信息技术,2020,(02):60.[doi:10.13889/j.issn.2096-5427.2020.02.011]
 HUANG Song,LIU Xiaocong,PENG Jing,et al.Research on Position Control Method of All-axle Steering System for Autonomous-rail Rapid Tram[J].High Power Converter Technology,2020,(02):60.[doi:10.13889/j.issn.2096-5427.2020.02.011]
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智轨电车全轴导向系统的位置伺服控制方法研究()
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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:
60
栏目:
电力与传动控制
出版日期:
2020-04-05

文章信息/Info

Title:
Research on Position Control Method of All-axle Steering System for Autonomous-rail Rapid Tram
文章编号:
2096-5427(2020)02-0060-05
作者:
黄 松刘小聪彭 京肖  磊粟爱军李晓光
(中车株洲电力机车研究所有限公司, 湖南 株洲 412001)
Author(s):
HUANG Song LIU Xiaocong PENG Jing XIAO Lei SU Aijun LI Xiaoguang
( CRRC Zhuzhou Institute Co., Ltd., Zhuzhou, Hunan 412001, China )
关键词:
智轨电车油缸位移冗余控制正运动学模型多轴转向系统PID 控制
Keywords:
autonomous-rail rapid tram displacement of cylinder redundant control direct kinematics model multi-axle steering system PID control
分类号:
U461.2
DOI:
10.13889/j.issn.2096-5427.2020.02.011
文献标志码:
A
摘要:
针对智轨电车全轴转向冗余控制需求,文章提出一种基于油缸位置的闭环控制策略。首先建立了车桥转向机构的运动学数学模型,通过 Newton-Raphson 方法求得其运动学正解,并通过 Matlab 建模及 ADAMS 仿真验证了所建模型的正确性;通过采集方向盘控制的驾驶轴油缸位移信息来获取驾驶轴的转向角度,以此作为整车转向控制算法的输入,从而计算得出其他转向轴的目标转向角度,并通过数字 PID 完成闭环控制。多轴转向系统 PID 闭环控制试验及整车测试结果验证了该控制方法的有效性。
Abstract:
Aiming at redundant control strategy of all-axle steering system for autonomous-rail rapid tram, a controlling method based on cylinder displacement was presented. Direct kinematics model of steering device of the vehicle-bridge is build, which is actually a plane five-bar linkages. Newton-Raphson method is used to obtain the solution of direct kinematics. The direct kinematics model is verified by simulations with Matlab and ADAMS. Based on this, a closed-loop PID control strategy is established. The cylinder, s displacement of the axle driven by steering wheel is detected to obtain the steering angle, which is treated as the input arguments of the vehicle control method so as to obtain the target steering angles of the other axis of the vehicle. And then closed-loop control of the steering system is accomplished by digital PID algorithm.Validation of the control method is carried out by the experiment of the closed-loop PID control strategy and substantial vehicle test.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2019-03-08
作者简介:黄松(1992—),男,硕士,工程师,主要研究方向为智轨电车转向控制。
基金项目:湖南省科技重大专项(2017GK1010)
更新日期/Last Update: 2020-05-08