基于Ackermann转向原理的循迹控制研究
陈永发，池茂儒，郭兆团，赵昀陇
（西南交通大学 牵引动力国家重点实验室，四川 成都 610031）
摘要：为了对虚拟轨道车辆的控制方法进行研究，本文针对三编组虚拟轨道列车，建立了车辆多体动力学模型，并从车辆动力学角度出发提出了基于Ackermann转向原理的多编组列车循迹控制方法，结合模糊控制理论与PID控制理论利用Simulink构建了车辆模糊循迹控制模型。通过联合仿真证明基于Ackermann的单轴协调控制虽然从运动学角度上不能实现完美的各车轮“纯滚”过弯，但可以对首尾车进行较好的约束，从而达到较好的一个控制精度，且各轴的转向控制设计时考虑到整车动力学性能，前后轴转角采用同一基线（动车的车铰侧垂线），保证了车铰处瞬时速度与动车各轴耦合，一定程度上改善了整车动力学性能；控制模型符合虚拟轨道车的循迹控制要求。
关键词：虚拟轨道列车；Ackermann转向原理；循迹控制；模糊控制
中图分类号：U270.1+1 文献标志码：A doi：10.3969/j.issn.1006-0316.2021.06.006
文章编号：1006-0316 (2021) 06-0035-06
Research on Tracking Control Based on Ackermann Steering Geometry
CHEN Yongfa，CHI Maoru，GUO Zhaotuan，ZHAO Yunlong
( State Key Laboratory of Traction Power, Southwest Jiaotong University, Chengdu 610031, China )
Abstract：In order to study the control method of virtual rail vehicles, in this paper, a multi-body dynamics model of the three-carriage virtual rail train is established, and a multi-carriage train tracking control method based on the Ackermann steering geometry from the perspective of vehicle dynamics is proposed, and a vehicle fuzzy tracking control model based on the combination of the fuzzy control geometry and PID control theory is constructed thtough Simulink. The Co-simulation proves that the single-axis coordinated control based on Ackermann cannot achieve a perfect "pure roll" cornering of each wheel from a kinematics point of view, but it can better constrain the front and rear cars to achieve a better control accuracy. In addition, since the dynamics of the whole vehicle is taken into consideration during the steering control design of each axle, the baseline (the vertical line of the hinge side of the motor car) adopted to the front and rear axle angles are the same, which ensures that the instantaneous speed at the hinge is coupled with each axis of the motor car and thus improves the overall vehicle dynamics performance. Also, the control model meets the tracking control requirements of the virtual rail car.
Key words：virtual rail train；Ackermann steering geometry；traction control；fuzzy controll
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收稿日期：2021-01-14
基金项目：国家重点研发计划（2018YFB1201600、2018YFB1201603-05）；牵引动力国家重点实验室自主课题（2018TPL_T04）
作者简介：陈永发（1996－），男，山东潍坊人，硕士研究生，主要研究方向为车辆系统动力学，E-mail：321041911@qq.com。
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