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采用左、右轮转速差作为反馈量,对独立轮对的摇头量进行主动导向控制,并研究控制的效果。研究表明:如果仅使用左、右轮转速差作为反馈量,只能使轮对达到纯滚线位置;但在经过补偿速度和轨道曲率的信息后,能使轮对达到线路中心位置。采用转速差反馈主动导向控制后,系统的稳定性会发生变化,反馈增益的稳定区域随着速度增大而减小,补偿速度和轨道曲率信息不会改变控制增益的稳定区域。仿真分析表明这种主动导向控制方法所需要的功率很小。这种方法的反馈量,即左、右轮对转速差可以通过测量车轮的转速而获得,因而这种主动导向控制方法具有显著的实用价值。
The left and right wheel speed difference is used as the feedback amount to control the swinging amount of the independent wheelset actively. And the effect of the control is studied. The research shows that if only the left and right wheel speed difference is used as the feedback, only the wheel alignment can reach the position of the pure roll. However, after the information of the compensation speed and the curvature of the track, the wheel alignment can reach the center of the line. The stability of the system changes with the active steering control of speed difference feedback. The steady region of feedback gain decreases with the increase of velocity, and the compensation velocity and orbit curvature information will not change the stable region of control gain. Simulation analysis shows that this kind of active steering control method requires very little power. This method of feedback, that is, left and right wheel speed difference can be obtained by measuring the speed of the wheel, so this active steering control method has significant practical value.