Curve-passing performance of independent rotating wheels based on differential feedback

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Journal of Vibration and Shock ›› 2018, Vol. 37 ›› Issue (23) : 126-132.

LI Haotian,CHI Maoru,LIANG Shulin,WU Xingwen

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Abstract

In order to solve problems of independent rotating wheels (IRWs) being lack of self-directed ability both on straight lines and large radius curves,and coupled wheel-pairs with a limit passing ability on small radius curves,the automobile differential principle was analyzed from the mechanical angle of tire-ground contact to introduce the applicability of mechanical differential and differential strategy of equal torque allocation applied in railway vehicles.Here,an IRW’s electrical differential control strategy was proposed,and a multi-body dynamic model of a light-rail vehicle with IRWs was built using the control strategy based on differential feedback.The IRW was modeled as an electrical differential controlled wheel-pair (EDCW).According to the vehicle’s motor’s characteristics,the key parameters of the control system were chosen to form a differential-based sliding mode control system using the platform of Simulink.Both models were coupled using the co-simulation module of SIMPACK and Simulink (SIMAT) to study the curve-passing ability of the vehicle with different control modes including the differential control mode and the equal speed control one.The results showed that when passing curves with small radius,the differential wheel-pair has a better curve-passing ability and its dynamic behavior is similar to that of IRW; when passing large-radius curves,the IRW with equal speed control mode has a better curve-passing ability,and its self-directed ability and dynamic behavior are similar to those of coupled wheel-pair; when passing curves with medium radius,curve-passing abilities of IRWs with two different control modes are close to each other,and there is a cross and interchangeable curve radius’s demarcation zone,it is within 500-600 m.

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IRW / differential theory / EDCW / curving performance / sliding mode control

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LI Haotian,CHI Maoru,LIANG Shulin,WU Xingwen. Curve-passing performance of independent rotating wheels based on differential feedback[J]. Journal of Vibration and Shock, 2018, 37(23): 126-132

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