Research on active steering control strategy for independent wheelsets based on dSPACE
曾贵萍 1唐阳 1蒋明朝1
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作者信息
1. 西南交通大学机械工程学院,四川 成都 610031
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摘要
独立轮对作为低地板列车的关键组成部分,其结构导致其导向性能缺失、磨损和噪声等问题,这些问题成为制约低地板列车发展的主要因素.文章通过已有的独立轮对单轴转向架滚动试验台,结合dSPACE系统搭建了快速控制原型(Rapid Control Prototype,RCP)测试平台,并提出了 2种主动导向控制策略,分别开展了独立轮对导向性能验证、Simulink和SIMPACK联合仿真验证,以及主动导向控制策略的半实物仿真台架试验.试验结果表明,独立轮对本身不具备曲线对中能力,当添加主动导向控制后独立轮对能完全无横向偏移.文章所提出的2种主动导向控制策略均能够使采用独立轮对的车辆获得良好的曲线通过性能,在补偿车辆速度和曲线半径的情况下,独立轮对横移量能高效地回复至中心线位置.
Abstract
As a key component of low-floor trains,independent wheelsets suffer from issues such as lack of steering performance,wear,and noise due to their structure,which are major factors constraining the development of low-floor trains.Therefore,this paper es-tablished a rapid control prototype(RCP)test platform by utilizing the existing rolling test bench for single-axis bogies with independent wheelsets and combining it with the dSPACE system.Two active steering control strategies were proposed and verified through steering performance validation of independent wheelset,joint simulation validation of Simulink and SIMPACK,and hardware-in-the-loop simu-lation bench experiments of active steering control strategies.The experimental results show that the independent wheelsets themselves do not possess the curve centering ability,but when active steering control is added,the independent wheelsets can completely eliminate lateral offset.Both proposed active steering control strategies enable the independent wheelset vehicle to achieve good curve-passing per-formance,and under the compensation of vehicle speed and curve radius,the lateral displacement can efficiently be corrected to return in-dependent wheelsets to the centerline position.
关键词
独立轮对/主动导向控制/RCP测试平台/半实物仿真/dSPACE/城市轨道交通
Key words
independent wheelsets/active steering control/RCP test platform/hardware-in-the-loop simulation/dSPACE/urban rail transit
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