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CSME 2023/12
Volume 44 No.6
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513-522
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Optimal Preview Control Method of Multi-Objective Comprehensive Dynamics for Virtual Track Train Path Following
Rang Zhanga and Gang Shena
aRail Transit Institute, Tongji University, Shanghai 201804, China.
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Abstract:
This paper proposed an optimal preview control method of multi-objective comprehensive dynamics to improve the mobility of virtual track train (VTT) in the process of path tracking. A 6-DOF linear reference dynamic model of VTT is established, taking lateral speed, yaw rate, first articulation angle and second articulation angle as control variables, the train reference state variables are derived according to the known reference path information. Then, based on the optimal preview control theory and considering the constraints of VTT dynamics, a multi-objective comprehensive dynamic control algorithm is designed. Finally, to comprehensively analyze the feasibility of the algorithm, the robustness of the control algorithm to road adhesion conditions, speed and combined curve is verified respectively through the co-simulation of multi-body dynamics software and MATLAB/Simulink.
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Keywords: virtual track train, optimal preview control, path following, dynamic performance.
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*Corresponding author; e-mail:
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©
2023
CSME , ISSN 0257-9731
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