[1]彭 京,冯江华,肖 磊,等.智轨电车自主导向与轨迹跟随技术研究[J].控制与信息技术,2020,(01):27.[doi:10.13889/j.issn.2096-5427.2020.01.004]
 PENG Jing,FENG Jianghua,XIAO Lei,et al.Research on Autonomous Guidance and Track Following Technology of Autonomous-rail Rapid Tram[J].High Power Converter Technology,2020,(01):27.[doi:10.13889/j.issn.2096-5427.2020.01.004]
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智轨电车自主导向与轨迹跟随技术研究()
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《控制与信息技术》[ISSN:2095-3631/CN:43-1486/U]

卷:
期数:
2020年01期
页码:
27
栏目:
“智能轨道快运系统”专刊
出版日期:
2020-02-05

文章信息/Info

Title:
Research on Autonomous Guidance and Track Following Technology of Autonomous-rail Rapid Tram
文章编号:
2096-5427(2020)01-0027-05
作者:
彭 京1冯江华1肖 磊1任晓军1 王山伟12 刘小聪1
(1. 中车株洲电力机车研究所有限公司,湖南株洲 412001;2. 北京中车重工机械有限公司,北京 102200 )
Author(s):
PENG Jing1 FENG Jianghua1 XIAO Lei1 REN Xiaojun1 WANG Shanwei12 LIU Xiaocong1
( 1. CRRC Zhuzhou Institute Co., Ltd., Zhuzhou, Hunan 412001, China;2. Beijing CRRC Heavy Industry Mechanics Co., Ltd., Beijing 102200, China )
关键词:
智轨电车自主导向轨迹跟随
Keywords:
autonomous-rail rapid tram autonomous guidance track following
分类号:
U461.2
DOI:
10.13889/j.issn.2096-5427.2020.01.004
文献标志码:
A
摘要:
智轨电车是一种城市轨道交通新制式,自主导向与轨迹跟随系统作为其关键技术,解决了多编组铰接车辆在转向过程中占路宽度大、灵活性差、转向不及时及误差大等难题,保证了车辆在转弯过程中的快速性、准确性及稳定性。文章首先介绍了自主导向系统组成,然后分析了轨迹跟随控制原理,并建立了智轨电车转向系统模型。仿真分析与试验结果表明,该系统能很好地满足车辆在转向过程中的响应速度及轨迹跟随精度要求。
Abstract:
Autonomous-rail rapid tram is a new type of urban rail transit. As a key technology, autonomous guidance and track following algorithm solves the problems of large proportion of road, poor flexibility, delayed steering and large errors during steering of multi-group articulated vehicle. The rapidity, accuracy and stability of the vehicle during steering are guaranteed. In this paper, the composition of the autonomous guidance system was firstly introduced, the control principle of tracking trajectory was proposed and the numerical model of steering system was established. Simulation analysis and experimental verification indicate that the system meets the response speed and trajectory tracking accuracy requirement of the vehicle during steering.

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备注/Memo

备注/Memo:
收稿日期:2019-12-18
作者简介:彭京(1982— ),男,工程师,主要从事车辆转向控制技术研究。
基金项目:湖南省科技重大专项(2017GK1010)
更新日期/Last Update: 2020-03-26