Study On Automated Guided Technology For A Irw Model Car

100%Low-floor LRT vehicles which are suitable for passengers to get on and off,have become more and more welcomed by the urban rail transport. Independent rotating wheel (IRW) structure is a necessary condition to achieve100%low-floor, compared with the traditional wheels, the IRW lacks the ability to be automated guided on the tracks. Using an independent wheel model car, this paper finished foundation study on the guided problem as follow:Firstly, in Chapter2research was started from the gravity lateral resilience, creep forces and active control, the IRW lacks the ability to be automated guided on the tracks with the lack of longitudinal creep torque. Active control has been one of the main ways to solve the guide problem of independent wheels.Using an independent wheel model car, a closed loop control system based on the DSP2812was designed in this thesis in chapter three to solve the problem of automated guide of the independent wheel model car. The closed loop control includes an AD data system and a motor control system.In Chapter4, the AD acquisition part was finished.Using the speed control, the speeds of the left and right wheels can be controlled. The system takes the information of the independent wheel model car by a GEFGAN displacement sensor. The DSP main control board uses an AD73360to acquire the voltage signal of the sensor.In Chapter5, the motor control part in the closed loop control system was finished. The control board calculates the corresponding wheel speed of the left and right wheel according to the AD acquisition part. Using two serve controllers, the DSP main control board can control the serve motors, and guide the model car.Finally, with the model cars, using the closed-loop control system, a specific test was carried out, and finished the optimization of the parameters of the closed-loop control programs. Experimental results show that:Using the design of the closed-loop control system in this paper can solve the guide problem of the independent wheel model car.