基于模型预测控制的虚拟轨道列车转向控制方法  

A Steering Control Method for Virtual Rail Trains Based on Model Predictive Control

作　　者：刘汉 侯成滨 戴靖雯 沙睿芝 束展逸 罗茂臻 LIU Han;HOU Chengbin;DAI Jingwen;SHA Ruizhi;SHU Zhanyi;LUO Maozhen(CRRC Qingdao Sifang Co.,Ltd.,Qingdao 266111,China;College of Electronic and Information Engineering,Tongji University,Shanghai 201804,China)

机构地区：[1]中车青岛四方机车车辆股份有限公司,山东青岛266111 [2]同济大学,电子与信息工程学院,上海201804

出　　处：《微型电脑应用》2025年第1期1-5,共5页Microcomputer Applications

基　　金：国家自然科学基金面上项目(62373284)。

摘　　要：虚拟轨道列车是一种三编组、双铰接、全轴转向的胶轮列车,其转向控制器通过传感器获取车辆状态,控制各轴转向角,以抑制铰接结构导致的后向放大效应,确保列车沿预设轨道行驶。由于列车采用全轴转向系统,存在多个输入和复杂的动力学约束,以及车厢间的运动干涉,普通乘用车的控制方法已不再适用。因此,转向控制器需考虑铰接式车辆的动力学特性,实现各轴的协同控制。针对虚拟轨道列车的全轴转向控制问题,提出一种时变线性模型预测控制方法,利用动力学模型进行预测,以提高各种工况下的预测精度,确保转向的平稳性和乘坐舒适性。鉴于动力学模型的高非线性程度,采用在工作点附近的在线线性化方法来加速求解。MATLAB与TruckMaker软件的联合仿真结果表明,所提控制方法的效果优于基于扩展阿克曼转向的方法,与非线性模型预测控制器相近,但计算速度更快。经过加速后,控制器能够实现20 Hz的控制频率,满足实时控制需求。The virtual rail train is a three-unit,double-articulated,all-axle steering rubber wheel train.The steering controller obtains the vehicle state through the sensor and controls the steering angle of each axis to suppress the backward amplification effect caused by the hinged structure and ensure that the train runs along the preset track.Due to the all-axle steering system,the existence of multiple inputs and complex dynamic constraints,as well as the motion interference between cars,the control methods of ordinary passenger cars are no longer suitable.Therefore,the steering controller needs to consider the dynamic characteristics of articulated vehicles to realize the coordinated control of all axes.This paper presents a time-varying linear model predictive control method for all-axle steering control of virtual track trains,which uses dynamic model to predict,in order to improve the prediction accuracy under various working conditions and ensure the smoothness of steering and ride comfort.In view of the high nonlinear degree of the dynamic model,the online linearization method near by the operating point is used to accelerate the solution.The co-simulation results of MATLAB and TruckMaker software show that the proposed control method is better than the method based on extended Ackermann steering,and is similar to the nonlinear model predictive controller,but the calculation speed is faster.After acceleration,the controller can achieve a control frequency of 20 Hz to meet the real-time control requirements.

关 键 词：模型预测控制 全轴转向系统 虚拟轨道列车 在线线性化 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]