| LGTD200Y型公铁两用电动牵引车转向控制策略 |
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| 引用本文： | 李勇,;毛永文,;张宝霞. LGTD200Y型公铁两用电动牵引车转向控制策略[J]. 兰州交通大学学报, 2014, 0(4): 155-159 |
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| 作者姓名： | 李勇, 毛永文, 张宝霞 |
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| 作者单位： | [1]兰州交通大学机电工程学院,甘肃兰州730070; [2]天津市地下铁道运营有限公司,天津300222 |
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| 摘 要： | 以LGTD200Y型公铁两用电动牵引车为对象,提出了基于4台直流无刷轮毂电机的控制方案,给出控制器总体设计思路.采用全轮转向方式,利用低速转向模型,计算了电子差速过程中随着转向角的变化四轮速度的变化,同时分析了滑移率/拖滑率与转矩的调节问题.给出了直线运行时四轮车速的协调方案,研究了电动牵引车转向与加减速处理方案.最后,利用Matlab软件进行了仿真试验,试验结果表明了电动牵引车控制器设计合理,电子差速控制策略正确,能够满足四轮独立驱动电动牵引车的行驶要求.
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| 关 键 词： | 公铁两用车 电子差速 轮毂电机 控制策略 |
Study on Steering Control Strategy of LGTD200Y Road-Rail Vehicles |
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| Affiliation: | LI Yong, MAO Yong-wen, ZHANG Bao-xia ( 1. School of Meehatronie Engineering, Lanzhou Jiaotong University, Lanzhou 730070,China; 2. Tianjin Metro Operation Co. , Ltd. , Tianjin 300222, China) |
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| Abstract: | In order to realize the steering of LGTD200Y road-rail vehicles,the controlling scheme for four in-wheel brushless DC motors is proposed,and the overall design idea of the controller is given.Based on the four-wheel steering system and slow-speed turning model,the speeds of four wheels during the turning with the change of steering angle are calculated independently,and the regulation between torque and slip rate is analyzed.The control strategy for the consistency of four wheels running on straight is given.The coordination and control of four wheels＆#39;acceleration or deceleration during the turning of electric vehicles are studied.Finally,the results of simula-tion by MATLAB show that the design of the controller is rational and the electrical differential system is available.The control strategy can meet the request of the road-rail vehicle with four in-wheel motors. |
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| Keywords: | road-rail vehicle electric differential system in-wheel motor control strategy |
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