| Independently rotating wheel(IRW)is the key to realize 100% low-floor vehicle.Compared with conventional fixed wheelset,the IRW has no more restoration capability and curve-negotiating performance without coupling right and left wheels in the same axle,which limits the use of IRW.So,it has been the focus of research to improve the guidance and steering capability of IRW for a long time.Researchers from various countries put forward many solutions,and the active steering technology is one of them which can solve the guidance problem effectively.This article took the actual research object as an example,established SIMPACK dynamic model of bogie with IRW,The restoration capability and curve-negotiating performance of IRW were tested in SIMPACK.It shows that IRW is lack of restoration capability and curve-negotiating performance.Three control methods PI control,LQG control and ? synthesis were designed,and established the dynamic models of vehicle with IRW in the multi-body dynamic software SIMPACK.Then,operating co-simulation for a vehicle with IRW in SIMPCK and MATLAB/simulink.Simulation results demonstrate restoration capability and curve-negotiating performance have been improved obviously under the three kinds of control strategies.As for the control effect,PI controller and LQG controller are quite in control effect.Differences exist in PI controller's control process is smoother,lateral displacement curve of IRW is smoother than that of LQG controller.While under the influence of LQG controller,lateral displacement of IRW attain the center of track line quicker than PI controller after leaving the curve of track.Though ? synthesis controller can make the IRW return to centerline of track,it takes a long time to do it.Based on the similarity theory,hardware-in-the-loop simulation platform was established and in order to verify the control strategies mentioned above,active steering control system of IRW was designed preliminary based on dSPACE platform. |
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