摘要
文章通过分析智轨电车的横向运动特性,将每节车的横摆角速度、横向加速度以及受力联系起来,建立3节车辆之间的运动学和动力学关系;提出一种能够反映智轨电车横向动力学特性的4自由度线性单轨模型;并将所建立的模型与Trucksim中的高精度非线性模型进行对比,验证了所建立模型的有效性及准确性;采用模型预测控制方法进行智轨电车轨迹跟踪控制研究,根据列车行驶过程中的优化目标,确定其评价函数,将多步预测控制问题转化为线性二次型(QP)问题进行求解。仿真结果表明,应用该算法的智轨电车能够达到很好的轨迹跟踪效果。
In this paper,through the analysis of lateral movement characteristics of coach,yaw angular velocity,lateral acceleration,and horizontal force of coaches are integrated to establish the kinematics and dynamics relationships between three coaches.A 4-degreeof-freedom(4 DOF)linear monorail coach model which can well reflect the lateral dynamics characteristic of autonomous-rail rapid tram was proposed.In order to verify the validity and accuracy of the proposed model,its performance is compared with that of the highfidelity nonlinear model in Trucksim.In this paper,model predictive control(MPC)method is used to study the path tracking control of autonomous-rail rapid tram.And the evaluation function is determined according to the optimization objective during the running of the tram.The predictive horizon control problem is transformed into a linear quadratic problem(LQP)for solving.Simulation results show that the autonomous-rail rapid tram with this algorithm can achieve a good performance of path tracking.
作者
严永俊
王金湘
胡云卿
袁希文
吴梦阳
黄瑞鹏
王斌
YAN Yongjun;WANG Jinxiang;HU Yunqing;YUAN Xiwen;WU Mengyang;HUANG Ruipeng;WANG Bin(School of Mechanical Engineering,Southeast University,Nanjing,Jiangsu 211189,China;CRRC Zhuzhou Institute Co.,Ltd.,Zhuzhou,Hunan 412001,China)
出处
《控制与信息技术》
2020年第2期25-30,共6页
CONTROL AND INFORMATION TECHNOLOGY
基金
国家重点研发计划(2018YFB1201602)。
关键词
智轨电车
横向运动特性
轨迹跟随
模型预测控制
autonomous-rail rapid tram
lateral dynamics
path tracking
model predictive control(MPC)
