Research On Active Steering Control Of Modern Trackless Train With Multi-articulated Distributed Driving

Modern trackless train is a medium-volume urban road transportation tool with a new structure,compared with traditional buses,it has the advantages of large passenger traffic and zero emissions,which is a powerful supplement to the ordinary road bus system and rail transit system.However,the multi-articulated connection between the car bodies increases the complexity of the vehicle structure and the movement is not flexible.At the same time,because the wheels have no track constraints,the freedom of movement is large,and the vehicle has instability problems such as folding,tail flinging,and large wheel trace deviation,it is of great significance to active steering control.This paper focuses on modern trolleybus trains and their active steering control strategies as follows:(1)According to the architectural characteristics and driving characteristics of modern trackless trains,the maximum angle of steering wheels,the maximum articulation angle,the maximum stroke of the articulated vibration damping device and the maximum power of the motor are designed,and the ADAMS virtual prototype model is established to verify the feasibility of the architecture.(2)In order to analyze the relationship between the main force and the state of the vehicle body module,a mathematical model of vehicle dynamics is established.Based on the Newton-Euler equation,the dynamic equations of its various modules are established,in which the binding force is more,in order to eliminate the constraints,the non-binding dynamic equations of the whole vehicle are established by using the Jordan virtual power principle;then the mathematical models of other subsystem models are established.The overall model was built in MATLAB to verify the correctness of the mathematical model.(3)According to the relationship between the main force and the state of the vehicle,the active control strategy is designed,which mainly includes three parts.First of all,the stiffness parameters of the articulated vibration damping device have an important impact on the stability of the vehicle,using the principle that the driver’s driving experience is similar to that of the ordinary car body,the numerical relationship between the stiffness coefficient and the speed and steering angle of the head car is designed in order to provide a reference for the selection of the real car and the control of the vibration damping device;then,for the characteristics of the modern trackless train with more state variables,the fuzzy PID direct pendulum torque controller is designed with the reference pendulum angle speed of the 3 connecting modules;and finally the relationship between the rear axle angle and the sixth hinge angle is designed.(4)The MATLAB-ADAMS joint simulation experimental platform was built to conduct mechatronics simulation experiment verification.The vehicle is carried out in a straight-line stability experiment,an angle step experiment,and a snake-shaped simulation experiment to analyze the difference between the above control effects.Simulation shows that the high-speed straight-track stability of the train needs to be improved,and the vibration damping device can be used to increase its lateral stiffness by locking the function in the straight state to improve its straight-forward stability.Other simulation experiments have verified that the active steering control proposed in this paper has a good control effect,which can improve the steering stability and steering followability of the train.