Mathematical Modeling And Co-simulation Analysis And Experimental Verification For The Electronic Hydraulic Power Steering System Of Autonomous Rail Rapid Transit

The Autonomous rail Rapid Transit is called ART for short.As a new type of public traffic tool which developed by the CRRC Corporation Limited,the ART adopts the design scheme of the multi-axis steering system to intelligently track the virtual track.The steering system of the ART adopts the form of electronic hydraulic power steering.Because of its huge passenger capacity,the reliability and stability of its electronic hydraulic power steering system become one of the foundations for the safe operation of the ART.In this paper,the steering system of the ART is studied,and the mathematical model of the electronic hydraulic power steering system of the ART is established and analyzed theoretically.Then,based on this theory,this paper uses two simulation softwares,Adams and AMESim,to co-simulate the electronic hydraulic power steering system of the ART in order to analyze the main factors affecting the dynamic performance of the steering system.Finally,the ART steering system test bench is tested to verify the accuracy of the simulation analysis,and provide theoretical guidance for the design and parameter adjustment of the actual steering system.Firstly,based on a large number of domestic and foreign literature research,this paper focuses on the research and development of vehicle steering system.Then,the working principle,mechanical structure,hydraulic system and electronic control system of the electronic hydraulic steering system of ART are respectively carried out in detail,and analyze the mathematical model of the hydraulic system of double proportional servo valve parallel controlling asymmetric cylinder.After that,the simulation model of the steering system’s mechanical structure is established by Adams,the simulation model of its hydraulic system is established by AMESim and then the two simulation models are successfully connected by setting the two softwares’ interface,so that the mechanical system Adams simulation model and the hydraulic system AMESim simulation model can change their simulation data to realize the co-simulation analysis,and the influence of each main parameter on the steering system is studied,For example,the influence of the accumulator oil supply pressure on the response time of the wheel steering and When one proportional servo valve is closed due to fault,the effect of the response time of the wheel steering when the single valve is working.Finally,we set up an electronic hydraulic power steering system test bench and its test system for the ART,and use the LabVIEW program and the data acquisition card to test the test bench.The signals of each sensor are collected and the test results are analyzed to verify the accuracy of the simulation analysis,which could provide some reference for the next upgrade of the ART.