开关并联电阻地面自动过分相方案研究

在深入分析地面自动过分相基础上,提出一种改进的地面自动过分相方案-开关并联电阻地面自动过分相方案,并对该方案进行了基于Matlab/simulink的仿真,研究表明,采用该方案能够有效地解决列车自动过分相时存在的暂态过电压问题.     

国产轻轨车辆的主要技术参数特点

国产轻轨车辆采用铰接式、短轴距转向架及大截面铝合金车体等先进技术,实现了3、4、5辆车灵活编组及单辆车的双向运行。简要介绍车体、转向架、主电路、辅助电源、制动等主要系统和部件的特点及其技术参数。     

100%低地板轻轨车辆的发展与运用

对轻轨车辆的100%低地板技术进行了分析与研究,阐述了低地板轻轨车的发展及其现状,并以国内外100%低地板轻轨车辆为例,介绍了现代100%低地板轻轨车辆的关键技术及运用,论述了100%低地板轻轨车辆在我国的运用前景。     

铰接式转向架的特点及其发展

简单介绍铰接式转向架在国内外的应用和发展。详细阐述现有铰接式转向架的结构形式及其特点,并对不同铰接式转向架按其结构形式进行分类,对各类铰接式转向架进行对比和分析。最后与传统转向架比较,分析了列车使用铰接式转向架的优缺点。     

Combined emergency braking and turning of articulated heavy vehicles

‘Slip control’ braking has been shown to reduce the emergency stopping distance of an experimental heavy goods vehicle by up to 19%, compared to conventional electronic/anti-lock braking systems (EBS). However, little regard has been given to the impact of slip control braking on the vehicle’s directional dynamics. This paper uses validated computer models to show that slip control could severely degrade directional performance during emergency braking. A modified slip control strategy, ‘attenuated slip demand’ (ASD) control, is proposed in order to rectify this. Results from simulations of vehicle performance are presented for combined braking and cornering manoeuvres with EBS and slip control braking with and without ASD control. The ASD controller enables slip control braking to provide directional performance comparable with conventional EBS while maintaining a substantial stopping distance advantage. The controller is easily tuned to work across a wide range of different operating conditions.     

电气化铁道关节式电分相过电压抑制研究

分析了电力机车过关节式电分相的全过程,研究造成关节式电分相过电压的原因、产生机理,并结合现场实测数据,探讨了治理过电压的方法,设计出自控式阻容吸收过电压抑制装置.结果表明,该装置可以有效地抑制机车过关节式电分相时产生的过电压.     

关节式电分相过电压致线索烧损分析及对策

对接触网的关节式电分相出现过电压的原因进行了分析,并结合襄樊供电段现场实际情况,提出了具体的防治对策。     

Automatic guidance control of an articulated all-wheel-steered vehicle

This paper presents automatic guidance control of a single-articulated all-wheel-steered vehicle being developed by the Korea Railroad Research Institute. The vehicle has an independent drive motor on each wheel except for the front axle. The guidance controller is designed so that the vehicle follows the given reference path within permissible lateral deviations. We use a three-input/three-output linearised model derived from the nonlinear dynamic model of the vehicle. For the purpose of simplifying the controller and making it tunable, we consider a decentralised control configuration. We first design a second-order decoupling compensator for the two-input/two-output system that is strongly coupled and then design a first-order controller for each decoupled feedback loop by using the characteristic ratio assignment method. The simulation results for the nonlinear dynamic model indicate that the proposed control configuration successfully achieves the design objectives.     

Multi-axle/articulated bus dynamics modeling: a reconfigurable approach

This paper proposed a unified model including yaw and roll dynamics for any axle or articulation configuration of buses by using a reconfigurable approach. First, all the possible existing configurations of buses are introduced, including the axle/articulation configuration, powertrain configuration, and active chassis control configuration. Consequently, the research is motivated by a key question: how can we develop a unified model that is inclusive and configurable to all of the above bus configurations? To develop the model, three layers of the modeling process are presented step by step. The magic formula and vertical load transfer are discussed to formulate the tyre model. It is noted that the case of the articulated bus is presented in an independent section but how it is included and unified in a general form is also explained. Finally, a modeling validation of axle or articulation configuration cases is performed and the comparative results to high-fidelity models show the feasibility, efficiency, and convenience of the reconfigurable approach. As the crucial feature, the resulting model can be potentially applied to model-based controller design in any buses without reformulating the model. This will greatly benefit the vehicle dynamics control and also future autonomous buses. Although the focus of this paper is buses, the proposed approach actually covers any multi-axle/articulated vehicles, like trucks, tractor-trailers.     

基于机械臂的隧道波纹钢支护结构装配控制技术探究

为研究隧道新型波纹钢初期支护快速装配施工技术,基于隧道施工常用工业机械臂分析实现搬运装配等特定功能的控制方 法和二次开发手段。主要研究和结论如下: 1)从机械臂的计算机集成控制角度出发,提出实现工业机械臂二次开发功能(如智能 装配或搬运)的研究思路。研究中选用ABB 机器人RobotStudio 离线编程平台,完成机械臂运动算法的预编程。机械臂与计算机之 间采用PC SDK 方式进行通信,交换运动目标点等数据。在计算机端联合开发设计C#程序模块,实现网络集成控制及用户交互的 功能。2)为验证控制方案的合理性,在RobotStudio 中导入波纹钢3D 模型并搭建机械臂装配虚拟仿真试验平台,设置工作站I/ O 信 号逻辑。3)利用二次开发软件控制波纹钢搬运装配运动的仿真试验运行成功,验证了基于机械臂的波纹钢装配集成控制技术的可 行性,虚拟试验仿真数据可以为实际应用提供可靠的参考,并为未来波纹钢支护结构装配施工智能化的相关研究提供基础成果。