Establishment and comparison of a spatial dynamics model for virtual track train with different steering modes

Abstract

To solve the urbanization and the economic challenges, a virtual track train (VTT) transportation system has been proposed in China. To evaluate the dynamic behavior of the VTT, a spatial dynamics model has been developed that considers the suspension system and the steering system. Additionally, the model takes into account road irregularity to make simulations more realistic. Based on the newly proposed dynamic model and a designed proportional–integral–derivative (PID) controller, simulation frames of the vehicle and of the VTT are established with the path-tracking performance. The results show that the vehicle and the VTT can run along a desired lane with allowable errors, verifying the proposed model. The vehicle and VTT with the four-wheel steering system show a better dynamic performance than the models with the front-wheel steering system in the curved section. Moreover, the simulation frame can be further applied to dynamics-related assessments, parameter optimization and active suspension control strategy.

A tracking control method for articulated virtual rail train with N-unit based on the dynamic model

“…Due to unit 1 being only front-axle steering and the same arc constraint, it has slightly greater tracking errors. Yin et al 16 designed a PID controller according to the tracking error and improved the tracking accuracy by using the 4WS method with the same steering angle on one axle. However, the research does not give the change of articulation forces, and the dynamic model based on the assumption of small angle rotation is not suitable for the motion simulation of vehicle large angle yaw.…”