Dynamic Simulation Analysis Of Virtual Rail Vehicle

With the rapid development of China's economy,there are more and more densely populated cities,and the demand for urban transportation presents a diversified trend.The existing urban transportation includes public transportation,subway,light rail,rapid transit,shared transportation,etc.,which greatly enriches people's travel manners.On the basis of existing vehicles,a new generation of urban vehicles-virtual rail vehicles-is proposed.Virtual rail vehicles are based on rubber tires/pneumatic tires,hub motors,automatic tracking technology,and new energy trams,which not only reduce construction and operating costs,but also ensure volume and safety,while providing flexibility and adaptability.energy saving to environment.Virtual rail vehicles also face the following three problems:autonomous tracking control,driving control and dynamic performance.In order to study the dynamic performance,find out the relationship between suspension parameters,dynamics and control system,the dynamic performance of virtual rail vehicle is analyzed.Autonomous tracking control and driving control are also involved in the coupling model.The simulation model of multi-body dynamics considering tire-ground coupling and electromechanical coupling is established by combining mechanical system with electrical system as a whole.The influence of suspension parameters and control parameters is analyzed,and the dynamics of the vehicle is analyzed,and the operation performance is analyzed.The main contents of this paper are as follows:Firstly,the simulation model of multi-body dynamics driven by eight-wheel independent steering based on tire-ground coupling,direct torque control and transverse PID control is established,and the excitation of road are reconstructed by the grade a pavement roughness of each speed grade and various lines.The nonlinear characteristics of tire and suspension performance are considered.At the same time,the longitudinal dynamic equation,transverse dynamic equation,vertical dynamic equation and curve motion equation are established respectively,and some parameters of steady state curve passing through the steady state curve of virtual rail vehicle driven by eight wheels independent steering are analyzed.Secondly,in order to optimize the performance of the dynamic and control system,combined with the transverse control system,the driving system and the multi-body dynamics model,the suspension's parameter,including the vertical damping and stiffness of primary suspension,the yaw stiffness and yaw damping of primary suspension,the vertical stiffness and damping of second suspension,and the parameter of transverse shift control system are analyzed and selected.Finally,based on the suspension parameters of optimization,the working state of the virtual rail vehicle is predicted and analyzed in the straight line and the curve.According to the various conditions of the vehicle's suspension and the external environment,to analyse the dynamic of virtual rail vehicle.In summary,the dynamic simulation of the multi-system coupled virtual rail vehicle model is carried out,and its dynamic performance is excellent,which can meet a variety of operating conditions.It provide theoretical basis and technical support for the further research and development of virtual rail vehicles.