Design And Development Of Rail Guide Vehicle’s Control System

With the abundance of social material life, people begin to pay more attention tocultural entertainment items gradually. More and more enterprises begin to develop anddesign the amusement equipment, and the comfort and stimulation and the stability ofthe system has become the main research direction.This topic comes from the theme item of “DarkRide” Rail Car in a ShenZhencompany. Its main task is the construction of the who le control system and the study ofmotion control performance, namely the rail car’s velocity planning and improving theparking precision.The topic is mainly about the rail car system’s design based on PLC, the inverterand the motor. The paper has completed the rail car’s overall control scheme design andthe construction of the rail car control system, including the hardware selection andcircuit design, writing and debugging the O mron PLC programs, serial communication,PC control interface design.The topic has developed the smooth curve suitable for rail cars, by comparing andanalyzing the T-curve, S-curve and Sin-curve. Considering the Jerk, the paper hascompleted the speed planning and guaranteed the moving acceleration continuous,which made the car move smoothly and enhanced the car’s comfort.The paper analyzed and debugged the PID control effect and feed-forward effect ofthe rail car control system separately; It has finished the model identification of thecontrol system using Matlab. Because of some uncertain factors in the moving car andthe nonlinear characteristics of the asynchronous motor, the paper put forward to a kindof parameters-self-tuning fuzzy PI controller and optimized the subordinate function ofthe controller, which made the rail car moving smoothly and parking accurately within0.5m. And by using the Simulink module and Fuzzy module of the Matlab, the paperhas completed the modeling and simulation of the system, to verify the conclusions.By researching on the speed curve planning, the ride comfort and stability of therail car has improved greatly; By researching on the self-adaptive Fuzzy PI controller,rail car moved smoothly and parked accurately when tracking the given speed curve tosimulate the specific scenario.