基于摇头角的独立旋转车轮主动导向控制  

Active guidance control of independently rotating wheels based on yaw angle

作　　者：汤劲松 李正武 王云鹏 李华 方晓春[2] TANG Jinsong;LI Zhengwu;WANG Yunpeng;LI Hua;FANG Xiaochun(CRRC Qingdao Sifang Rolling Stock Research Institute Co.,Ltd.,Qingdao 266031,China;School of Electrical Engineering,Beijing Jiaotong University,Beijing 100044,China)

机构地区：[1]中车青岛四方车辆研究所有限公司,山东青岛266031 [2]北京交通大学电气工程学院,北京100044

出　　处：《电力机车与城轨车辆》2023年第4期19-22,共4页Electric Locomotives & Mass Transit Vehicles

基　　金：中国中车股份有限公司科技研究开发计划重点项目(2021CYB151)。

摘　　要：独立旋转车轮是实现100%低地板有轨电车的关键技术,但是其导向能力较差,严重影响车辆的安全运行。文章在牵引电机导向型独立旋转车轮动力学方程的基础上,提出了基于摇头角的主动导向控制策略,并通过机电耦合仿真模型进行了验证。结果显示该控制策略可有效减小车轮横向位移和摇头角,保证车辆导向功能的实现。Independently rotating wheel is the key technology to realize 100% low-floor tram,but its poor guidance ability seriously affects the safe operation of the tram.On the basis of the dynamic equation of an independent rotating wheel guided by a traction motor,this paper proposes an active guidance control strategy based on yaw angle,and verifies it through an electromechanical coupling simulation model.The results show that this control strategy can efectively reduce wheel lateral displacement and yaw angle,and ensure the implementation of vehicle guidance function.

关 键 词：独立旋转车轮 导向控制 摇头角 横向位移 

分 类 号：U260.331[机械工程—车辆工程]