Single Axle Bogie With Independently Rotating Wheels Actively Steering Study On The Roller Test Rig

Urban light rail vehicle has the advantages of low cost,moderate transport capacity and low pollution.It is suitable to solve the problem of increasing transportation in mediumsized cities.Urban light rail vehicles have many types of running gears,the single-axle bogie is one of them.The single-axle bogie vehicle has the advantages of flexible grouping,small unsprung mass,low noise and easy to pass the curve track with small radius,which is beneficial to the promotion of urban rail light rail vehicle in the city.According to the different structure of the bogie wheel group,single axle bogie can be divided into independently rotating wheels single axle bogie and wheel and axle integrated single axle bogie.The single axle bogie with independently rotating wheels has all the advantages of a single axle bogie,and the characteristic of the independently rotating wheels makes it easier for the vehicle to pass through the small radius curve.However,due to the lack of longitudinal creep force of the independently rotating wheels,the vehicle has no straight line automatic centering ability and curve track automatic steering ability.Therefore,it is an important direction to study the guidance of single axle bogie with independently rotating wheels.In this paper,the simulation principle of the curve passing through the roller-rig of the semi-vehicle single axle bogie with independently rotating wheels is analyzed,and the superelevation characteristics,the centrifugal force characteristics,the length difference between the inner and outer track and the Angle of attack characteristics of the curve passing through are analyzed and calculated in detail.The model of half vehicle roller rig was established by using the dynamics software,and the simulation results showed that the roller rig could simulate the passing condition of the curve well.Then analyzes the main components of single axle bogie with independently rotating wheels,design the active steering control structure scheme.The PDF active control strategy is designed with the wheel lateral displacement as the input.The co-simulation results show that the proposed control strategy can improve the vehicle’s curve passing performance when the roller-rig is used for curve simulation.Furthermore,the mathematical model of vehicle lateral dynamics was established,and the LQR active steering control strategy was designed according to the obtained mathematical model.The dynamics software was used to model the vehicle,and the cosimulation of curve line active steering was carried out by combining Simulink and Simpack.The results show that the proposed strategy can improve the performance of the vehicle on the curved track,which indicates that the active steering control scheme on the rolling test bench can also be implemented on the line vehicle.According to the similarity theory,the rolling test bed of the single-axle bogie with small proportion independent wheel is designed and manufactured,the control method of the actuator such as the motor is studied,and the test program of the sensor is designed.The d SPACE active guidance measurement and control system was built and verified by the scale roller test rig.