Yaw stability control for modern trackless train based on feedforward-feedback control system

LiWei Zhang; JinQi Liu; MengLei Zhang; ZhongChao Song

doi:10.1117/12.2640327

1 August 2022 Yaw stability control for modern trackless train based on feedforward-feedback control system

LiWei Zhang, JinQi Liu, MengLei Zhang, ZhongChao Song

Proceedings Volume 12257, 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022); 122573U (2022) https://doi.org/10.1117/12.2640327
Event: 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022), 2022, Guangzhou, China

Abstract

In order to improve the yaw motion stability of the rear compartment of modern trackless train connected by six articulated devices, a yaw rate feedforward-feedback control strategy is proposed. First, the feedforward desired yaw rate is calculated based on the 3 degree-of-freedom linear reference model, which includes the first two compartments of the vehicle. Second, the problem of calculating compensate yaw rate is solved by sliding mode algorithm, and the target yaw rate is obtained by adding the feedforward desired yaw rate to the compensated yaw rate. At last, the PI control algorithm is used to calculate the yaw moment which is distributed to the wheel by the torque distribution algorithm. U-turn and S-turn cases are designed to verify the performance of the control strategy. Simulation results show that the proposed feedforwardfeedback controller has less yaw rate tracking error compared with the uncontrolled one, and the path-following error is less than 0.12m. The yaw motion stability of the vehicle is guaranteed.

Citation Download Citation

LiWei Zhang, JinQi Liu, MengLei Zhang, and ZhongChao Song "Yaw stability control for modern trackless train based on feedforward-feedback control system", Proc. SPIE 12257, 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022), 122573U (1 August 2022); https://doi.org/10.1117/12.2640327

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