基于速差反馈的独立车轮曲线通过性能分析  

Curve-passing performance of independent rotating wheels based on differential feedback

作　　者：李浩天 池茂儒[1] 梁树林[1] 吴兴文[1] LI Haotian;CHI Maoru;LIANG Shulin;WU Xingwen(State Key Lab of Traction Power,Southwest Jiaotong University,Chengdu610031,China)

机构地区：[1]西南交通大学牵引动力国家重点实验室,成都610031

出　　处：《振动与冲击》2018年第23期126-132,156,共8页Journal of Vibration and Shock

基　　金：国家自然科学基金(51605395);国家科技支撑计划(2015BAG13B01-03);国家重点研发课题(2016YFB1200506-08)

摘　　要：为解决独立车轮在直线和大半径曲线上的自导向能力不足和耦合轮对在小半径曲线上通过能力有限的问题,从胎-地接触力学角度分析了汽车差速器差速原理,引出了机械差速器和等转矩分配差速策略应用于铁道车辆的适应性。根据车轮运动状态,理论推导了曲线半径分界点的存在。提出了一种独立车轮电差速控制方法,建立了独立车轮轻轨车辆的动力学模型和基于速差反馈的控制模型,并根据电机特性,选取控制系统关键参数。通过SIMAT联合仿真,分析了不同半径下独立车轮轻轨车辆的曲线通过性能。结果表明:通过小半径曲线时,差速轮对曲线通过性能较优,动力学行为类似于独立车轮;通过大半径曲线时,同速轮对曲线通过性能较优,自导向能力和动力学行为类似于耦合轮对;通过中等半径曲线时,两种控制方式的车轮曲线通过性能差距缩小,且存在交叉互换的曲线半径分界区,分界区位于500～600 m。In order to solve problems of independent rotating wheels(IRWs)being lack of self-directed ability both on straight lines and large radius curves,and coupled wheel-pairs with a limit passing ability on small radius curves,the automobile differential principle was analyzed from the mechanical angle of tire-ground contact to introduce the applicability of mechanical differential and differential strategy of equal torque allocation applied in railway vehicles.Here,an IRW’s electrical differential control strategy was proposed,and a multi-body dynamic model of a light-rail vehicle with IRWs was built using the control strategy based on differential feedback.The IRW was modeled as an electrical differential controlled wheel-pair(EDCW).According to the vehicle’s motor’s characteristics,the key parameters of the control system were chosen to form a differential-based sliding mode control system using the platform of Simulink.Both models were coupled using the co-simulation module of SIMPACK and Simulink(SIMAT)to study the curve-passing ability of the vehicle with different control modes including the differential control mode and the equal speed control one.The results showed that when passing curves with small radius,the differential wheel-pair has a better curve-passing ability and its dynamic behavior is similar to that of IRW;when passing large-radius curves,the IRW with equal speed control mode has a better curve-passing ability,and its self-directed ability and dynamic behavior are similar to those of coupled wheel-pair;when passing curves with medium radius,curve-passing abilities of IRWs with two different control modes are close to each other,and there is a cross and interchangeable curve radius’s demarcation zone,it is within500-600m.

关 键 词：独立车轮 差速原理 速差控制轮对 曲线通过性能 滑模控制 

分 类 号：U270.11[机械工程—车辆工程] TM571.2[交通运输工程—载运工具运用工程]