Research On Active Control Method Of Urban Rail Vehicle With Independent Rotating Wheels Based On Dspace

Low-floor rail vehicles are one of the best choices to solve the current traffic pressure in most small and medium-sized cities,and independently rotating wheels are the core technology for vehicles to achieve 100% low-floor.Independently rotating wheels are distinguished from rigid wheel pairs.Their unique left and right wheel decoupling characteristics eliminate the meandering motion and facilitate the passage of small-radius curves within the city,but they also have the disadvantage of insufficient steering ability.To solve this problem,various countries have conducted a vast amount of research,and active steering is undoubtedly one of the most effective solutions at present.The active steering means that active steering actuators are added to the left and right sides of the independently rotating wheels,and a certain steering force is output by the actuators to assist the steering of the vehicles with independently rotating wheels.And also a reasonable control strategy can help us get the magnitude of steering force.In order to obtain an effective active steering control strategy,this paper intends to use the German d SPACE hardware-in-the-loop simulation platform for experimental verification.Before the hardware-in-the-loop simulation test,we must propose a suitable active steering control strategy,simulate and verify its control effect,and finally build a reasonable test platform as preparation.Based on the characteristics of independently rotating wheels,this paper starts with theoretical analysis and puts forward the independent rotating fuzzy adaptive active steering control strategy after finding the operating mechanism of independently rotating wheels,which gives a detailed introduction to this method.After a series of co-simulation tests of control strategy and dynamic model,the feasibility and superiority of fuzzy adaptive control strategy were proved.According to the principle of similar proportion used in the project,the author participated in the construction of an independently rotating wheel active steering test bench.The function and limitations of this test bench were introduced in detail in this paper,and a theoretical deviation analysis was used as a reference.In the second half of the paper,the cosimulation of the dynamic model and control strategy of the test bench not only verified the rationality of the test bench in studying the steering performance,but also further proved the feasibility of the designed active steering control strategy.Finally,in order to verify whether the test bench can achieve the theoretical simulation effect in reality.The d SPACE is used to build an independently rotating wheel active steering test bench hardware-in-the-loop simulation,whose goal is to design a highly feasible productlevel independently rotating wheel active steering controller.