Huang Youpei, Ma Xiaoguang, Ren Lihui
Rail Transit Institute, Tongji University, Shanghai 200333, China.
CRRC Nanjing Puzhen Co., Ltd., Nanjing 210031, China.
Sensors (Basel). 2024 Aug 20;24(16):5385. doi: 10.3390/s24165385.
Trajectory-following control is the basis for the practical application of an articulated virtual rail train transportation system. In this paper, a planar nonlinear dynamics model of an articulated vehicle is derived using the Euler-Lagrange method. A trajectory-following control strategy based on the first following point is proposed, and a feedback linearization control algorithm is designed based on the vehicle dynamics model to achieve the trajectory following of the rear vehicle. Based on the target trajectory formed by the first following point and measured by virtual sensors, a vector analysis method grounded in geometric relationships is proposed to solve in real time for the desired position, velocity, and acceleration of the vehicle. Finally, a MATLAB/SIMPACK dynamics virtual prototype is established to test the vehicle's trajectory-following effectiveness and dynamics performance under lane change and circular curve routes. The results indicate that the control algorithm can achieve trajectory following while maintaining good vehicle dynamics performance. It is robust to variations in vehicle mass, vehicle speed, tire cornering stiffness, and road friction coefficient.
轨迹跟踪控制是铰接式虚拟轨道列车运输系统实际应用的基础。本文采用欧拉-拉格朗日方法推导了铰接式车辆的平面非线性动力学模型。提出了一种基于第一跟随点的轨迹跟踪控制策略，并基于车辆动力学模型设计了反馈线性化控制算法，以实现后车的轨迹跟踪。基于由第一跟随点形成并由虚拟传感器测量的目标轨迹，提出了一种基于几何关系的矢量分析方法，实时求解车辆的期望位置、速度和加速度。最后，建立了MATLAB/SIMPACK动力学虚拟样机，测试车辆在变道和圆曲线路线下的轨迹跟踪有效性和动力学性能。结果表明，该控制算法能够实现轨迹跟踪，同时保持良好的车辆动力学性能。它对车辆质量、车速、轮胎侧偏刚度和道路摩擦系数的变化具有鲁棒性。
