摘要
针对智轨电车全轴转向冗余控制需求,文章提出一种基于油缸位置的闭环控制策略。首先建立了车桥转向机构的运动学数学模型,通过Newton-Raphson方法求得其运动学正解,并通过Matlab建模及ADAMS仿真验证了所建模型的正确性;通过采集方向盘控制的驾驶轴油缸位移信息来获取驾驶轴的转向角度,以此作为整车转向控制算法的输入,从而计算得出其他转向轴的目标转向角度,并通过数字PID完成闭环控制。多轴转向系统PID闭环控制试验及整车测试结果验证了该控制方法的有效性。
Aiming at redundant control strategy of all-axle steering system for autonomous-rail rapid tram,a controlling method based on cylinder displacement was presented.Direct kinematics model of steering device of the vehicle-bridge is build,which is actually a plane five-bar linkages.Newton-Raphson method is used to obtain the solution of direct kinematics.The direct kinematics model is verified by simulations with Matlab and ADAMS.Based on this,a closed-loop PID control strategy is established.The cylinder,s displacement of the axle driven by steering wheel is detected to obtain the steering angle,which is treated as the input arguments of the vehicle control method so as to obtain the target steering angles of the other axis of the vehicle.And then closed-loop control of the steering system is accomplished by digital PID algorithm.Validation of the control method is carried out by the experiment of the closed-loop PID control strategy and substantial vehicle test.
作者
黄松
刘小聪
彭京
肖磊
粟爱军
李晓光
HUANG Song;LIU Xiaocong;PENG Jing;XIAO Lei;SU Aijun;LI Xiaoguang(CRRC Zhuzhou Institute Co.,Ltd.,Zhuzhou,Hunan 412001,China)
出处
《控制与信息技术》
2020年第2期60-64,69,共6页
CONTROL AND INFORMATION TECHNOLOGY
基金
湖南省科技重大专项(2017GK1010)。
关键词
智轨电车
油缸位移
冗余控制
正运动学模型
多轴转向系统
PID控制
autonomous-rail rapid tram
displacement of cylinder
redundant control
direct kinematics model
multi-axle steering system
PID control
