[1]钟汉文,肖 磊,杨 勇,等.多编组智轨电车高速工况下的稳定性能研究[J].控制与信息技术,2021,(02):18-22.[doi:10.13889/j.issn.2096-5427.2021.02.003]
 ZHONG Hanwen,XIAO Lei,YANG Yong,et al.Research on High Speed Stability of Multi-group Autonomous-rail Rapid Tram[J].High Power Converter Technology,2021,(02):18-22.[doi:10.13889/j.issn.2096-5427.2021.02.003]
点击复制

多编组智轨电车高速工况下的稳定性能研究()
分享到:

《控制与信息技术》[ISSN:2095-3631/CN:43-1486/U]

卷:
期数:
2021年02期
页码:
18-22
栏目:
控制理论与应用
出版日期:
2021-04-05

文章信息/Info

Title:
Research on High Speed Stability of Multi-group Autonomous-rail Rapid Tram
文章编号:
2096-5427(2021)02-0018-05
作者:
钟汉文1肖 磊1杨 勇2张陈林1周 胜1付建朝2刘 彪2
(1. 中车株洲电力机车研究所有限公司,湖南株洲 412001;2. 中车时代电动汽车股份有限公司,湖南株洲 412000)
Author(s):
ZHONG Hanwen1 XIAO Lei1 YANG Yong2 ZHANG Chenlin1 ZHOU Sheng1 FU Jianchao2 LIU Biao2
( 1.CRRC Zhuzhou Institute Co., Ltd., Zhuzhou, Hunan 412001, China;2. CRRC Times Electric Vehicle Co.,Ltd., Zhuzhou, Hunan 412000, China )
关键词:
智轨电车联合仿真动力学性能高速稳定性
Keywords:
autonomous-rail rapid tram co-simulation dynamic performance high speed stability
分类号:
U462.3
DOI:
10.13889/j.issn.2096-5427.2021.02.003
文献标志码:
A
摘要:
多编组智轨电车车身长,在行驶过程中,特别是高速工况下若不加以控制,极易发生横摆失稳、垂向侧翻等问题,影响车辆的稳定性和安全性。为寻找高速工况下智轨电车动力学状态量的变化规律,文章基于车辆动力学与控制理论,在动力学软件Simpack中搭建三编组智轨电车整车动力学模型,并在Simulink中集成智轨电车的牵引、制动、自动循迹及轨迹跟随控制系统,通过对集成控制系统和车辆动力学模型的联合仿真,参照标准SAE J2179 A test for evaluating the rearward amplification of multi-articulated vehicle设计智轨电车高速行驶工况,研究分析智轨电车在不同速度下各节编组车辆的铰接转角、车身侧倾角、横摆角速度和侧向加速度等动力学状态量的变化趋势与极值。仿真结果表明,智轨电车在高速运行工况下,动态过程中的各项指标数值都较小,整车动态稳定性较好。
Abstract:
Multi-group autonomous-rail rapid tram has a long body. If it is not controlled in the process of driving, especially in high-speed conditions, it is prone to constant pendulum instability, vertical rollover and other problems, which affect the stability and safety of vehicle. In order to find the change trend of dynamic state quantity of autonomous-rail rapid tram under high speed condition, a whole vehicle dynamics model of three-group autonomous-rail rapid tram is built using the dynamics software Simpack based on vehicle dynamics and control theory. The traction, braking, steering and track following control systems are integrated in Simulink. Through the co-simulation of the integrated control system and the vehicle dynamics model, according to SAE J2179 A test for evaluating the rearward amplification of multi-articulated vehicle, it designs the high speed driving condition of autonomous-rail rapid tram, studies and analyzes the change trend and extremum values of dynamic state variables such as articulation angle, body roll angle, yaw rate and lateral acceleration of each marshalling vehicle at different speeds. Simulation results show that the index values in the dynamic process are small, and the dynamic stability of the whole vehicle is good under the high-speed operation condition.

参考文献/References:

[1] XIAO L, GUO S Y, YUAN X W, et al. Analysis of Vision Based Automatic Steering Control for an Articulated All Wheel Steered Vehicle[C]//2016 IEEE Vehicle Power & Propulsion Conference.Hangzhou: IEEE, 2016.

[2] 钟汉文,李晓光,肖磊,等.智轨电车动力学性能研究[J].控制与信息技术, 2020(1): 100-104.
ZHONG H W, LI X G, XIAO L, et al. Research on dynamic performance of autonomous-rail rapid tram[J]. Control and Information Technology, 2020(1):100-104.
[3] 徐晓美,张磊, 刘凯, 等.半挂汽车列车挂车主动转向控制研究[J].汽车技术, 2018(11): 36-40.
XU X M, ZHANG L, LIU K, et al. Research on Active Steering Control of Trailer Wheels for a Tractor-Semitrailer[J]. Automobile Technology, 2018(11):36-40.
[4] HUANG H H, YEDAVALLI R K, GUENTHER D A. Active roll control for rollover prevention of heavy articulated vehicles with multiple-rollover-index minimisation[J]. Vehicle System Dynamics, 2012,50 (3) :471-493.
[5] KHARRAZI S, LIDBERG M, ROEBUCK R, et al. Implementation of active steering on longer combination vehicles for enhanced lateral performance[J]. Vehicle System Dynamics, 2012, 50(12):1949-1970.
[6] KIM Y C, YUN K H, MIN K D. Automatic guidance control of articulated all-wheel-steered vehicle[J] . Vehicle System Dynamic, 2014,52(4):456-474.
[7] OREH S T , KAZEMI R , AZADI S . A new desired articulation angle for directional control of articulated vehicles[J]. Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics, 2012, 226(K4):298-314.
[8] 聂枝根,王万琼,王超,等.中高速重型半挂车适时模式切换的集成控制策略[J].交通运输工程学报, 2017, 17(6): 135-148.
NIE Z G, WANG W Q,WANG C, et al. Integrated control strategy of articulated heavy vehicle based on timely mode switching under medium/high speed conditions[J]. Journal of Traffic and Transportation Engineering, 2017, 17(6):135-148.
[9] POGGETTO D V F, SERPA A L. Vehicle rollover avoidance by application of gain-scheduled LQR controllers using state observers [J]. Vehicle System Dynamic, 2016, 54(2):191-209.
[10] HASAGASIOGLU S, KILICASLAN K, ATABAY O, et al. Vehicle dynamic analysis of a heavy-duty commercial vehicle by using multibody simulation methods[J]. International Journal of Advanced Manufacturing Technology, 2012, 60 (8): 825–839.
[11] CHANDRASEKHARAN S,GUENTHER D A,HEYDINGER G J, et al. Simulation Results from a Model of a Tractor Trailer Vehicle Equipped with Roll Stability Control [C]//SAE 2010 world congress & Exhibition. Detroit: SAE International, 2010.
[12] SAE Truck and Bus Dynamic Subcommittee. A test for evaluating the rearward amplification of multi-articulated vehicle: SAE J2179-1993[S]. Detroit: SAE, 1993.
[13] 杨勇,李晓光,银应时,等.智轨电车总体与轻量化设计[J].控制与信息技术, 2020(1): 32-37.
YANG Y, LI X G, YIN Y S, et al. Overall and lightweight design of autonomous-rail rapid tram[J]. Control and Information Technology, 2020(1): 32-37.
[14] 袁希文,冯江华,胡云卿,等.智轨电车自动循迹感知与控制系统[J].控制与信息技术, 2020(1): 19-26.
YUAN X W, FENG J H, HU Y Q, et al. Perception and control module of the automatic tracking system for autonomous-rail rapid tram [J]. Control and Information Technology, 2020(1):19-26.
[15] 彭京,冯江华,肖磊,等.智轨电车自主导向与轨迹跟随技术研究[J].控制与信息技术, 2020(1): 27-31.
PENG J, FENG J H,XIAO L, et al. Research on autonomous guidance and track following technology of autonomous-rail rapid tram[J]. Control and Information Technology, 2020(1): 27-31.
[16] 中华人民共和国工业和信息化部.汽车操纵稳定性试验方法:GB/T 6323-2014 [S].北京:中华人民共和国国家质量监督检验检疫总局,中国国家标准化管理委员会, 2014.

相似文献/References:

[1]冯江华,肖 磊,胡云卿.智能轨道快运系统[J].控制与信息技术,2020,(01):1.[doi:10.13889/j.issn.2096-5427.2020.01.001]
 FENG Jianghua,XIAO Lei,HU Yunqing.Autonomous-rail Rapid Transit[J].High Power Converter Technology,2020,(02):1.[doi:10.13889/j.issn.2096-5427.2020.01.001]
[2]胡云卿,冯江华,龙 腾,等.智轨电车多源环境感知系统[J].控制与信息技术,2020,(01):13.[doi:10.13889/j.issn.2096-5427.2020.01.002]
 HU Yunqing,FENG Jianghua,LONG Teng,et al.Multi-source Environment Perception System for Autonomous-rail Rapid Tram[J].High Power Converter Technology,2020,(02):13.[doi:10.13889/j.issn.2096-5427.2020.01.002]
[3]袁希文,冯江华,胡云卿,等.智轨电车自动循迹感知与控制系统[J].控制与信息技术,2020,(01):19.[doi:10.13889/j.issn.2096-5427.2020.01.003]
 YUAN Xiwen,FENG Jianghua,HU Yunqing,et al.Perception and Control Module of the Automatic Tracking System forAutonomous-rail Rapid Tram[J].High Power Converter Technology,2020,(02):19.[doi:10.13889/j.issn.2096-5427.2020.01.003]
[4]彭 京,冯江华,肖 磊,等.智轨电车自主导向与轨迹跟随技术研究[J].控制与信息技术,2020,(01):27.[doi:10.13889/j.issn.2096-5427.2020.01.004]
 PENG Jing,FENG Jianghua,XIAO Lei,et al.Research on Autonomous Guidance and Track Following Technology of Autonomous-rail Rapid Tram[J].High Power Converter Technology,2020,(02):27.[doi:10.13889/j.issn.2096-5427.2020.01.004]
[5]杨 勇,李晓光,银应时,等.智轨电车总体与轻量化设计[J].控制与信息技术,2020,(01):32.[doi:10.13889/j.issn.2096-5427.2020.01.005]
 YANG Yong,LI Xiaoguang,YIN Yingshi,et al.Overall and Lightweight Design of Autonomous-rail Rapid Tram[J].High Power Converter Technology,2020,(02):32.[doi:10.13889/j.issn.2096-5427.2020.01.005]
[6]谢 斌,李 京,文宇良,等.智轨电车牵引系统设计与应用[J].控制与信息技术,2020,(01):38.[doi:10.13889/j.issn.2096-5427.2020.01.006]
 XIE Bin,LI Jing,WEN Yuliang,et al.Design and Application of the Traction System forAutonomous-rail Rapid Tram[J].High Power Converter Technology,2020,(02):38.[doi:10.13889/j.issn.2096-5427.2020.01.006]
[7]钱 华,余接任,罗晓峰,等.智轨电车制动系统及其控制策略研究[J].控制与信息技术,2020,(01):43.[doi:10.13889/j.issn.2096-5427.2020.01.007]
 QIAN Hua,YU Jieren,LUO Xiaofeng,et al.Brake System and its Control Strategy of Autonomous-rail Rapid Tram[J].High Power Converter Technology,2020,(02):43.[doi:10.13889/j.issn.2096-5427.2020.01.007]
[8]李一叶,粟爱军,程玉溪,等.智轨电车列车网络控制系统设计与应用[J].控制与信息技术,2020,(01):48.[doi:10.13889/j.issn.2096-5427.2020.01.008]
 LI Yiye,SU Aijun,CHENG Yuxi,et al.Design and Application of the Network Control System forAutonomous-rail Rapid Tram[J].High Power Converter Technology,2020,(02):48.[doi:10.13889/j.issn.2096-5427.2020.01.008]
[9]彭 桢,陈小玄,李一叶,等.智轨电车人机交互技术研究[J].控制与信息技术,2020,(01):53.[doi:10.13889/j.issn.2096-5427.2020.01.009]
 PENG Zhen,CHEN Xiaoxuan,LI Yiye,et al.Research on the Human-machine Interaction Technology forAutonomous-rail Rapid Tram[J].High Power Converter Technology,2020,(02):53.[doi:10.13889/j.issn.2096-5427.2020.01.009]
[10]陈超录,罗 煌,董其爱,等.智轨电车低压配电与数据采集系统研究[J].控制与信息技术,2020,(01):58.[doi:10.13889/j.issn.2096-5427.2020.01.010]
 CHEN Chaolu,LUO Huang,DONG Qiai,et al.Research on the Low-voltage Distribution and Data Acquisition System ofAutonomous-rail Rapid Tram[J].High Power Converter Technology,2020,(02):58.[doi:10.13889/j.issn.2096-5427.2020.01.010]

备注/Memo

备注/Memo:
收稿日期:2020-09-04
作者简介:钟汉文(1981—),男,硕士,工程师,主要研究方向为车辆动力学与控制仿真。
基金项目:国家重点研发计划(2018YFB1201600)
更新日期/Last Update: 2021-05-06