Vehicle, single-wheelset/double-wheelset trackless train, and tracking and steering control method therefor
View Patent ↗A vehicle, a single-wheelset/double-wheelset trackless train and a tracking and steering control method therefor are provided in the invention. The method includes the following steps. During traveling of the vehicle, steering information of the vehicle is continually collected by the controller. Information about a guiding front wheel turning angle, a controlled rear wheel turning angle, a vehicle body position angle, an included angle between vehicle bodies, and a vehicle travel time and speed is collected; an interval for data collection is determined according to a distance between a guiding front wheel and a controlled rear wheel; and when the controlled rear wheel travels to a certain point near a front wheel travel track, the controlled rear wheel is controlled to travel in a travel direction same as that when the front wheel travels to the point. According to the rear wheel tracking and steering control method, the objective that a controlled rear wheel operates in a manner of highly approaching a guiding front wheel track can be achieved; and the higher a data collection frequency is, the higher a track fitting degree of the front wheel and the rear wheel is.
1. A double-wheelset trackless train, comprising a tractor body and at least one double-wheelset trailer body, a connection bridge disposed between any two adjacent vehicle bodies, two ends of the connection bridge respectively and correspondingly connected to the two vehicle bodies by using a hinge structure, and wheelsets of the tractor body and the trailer body being steering-controllable, the double-wheelset trackless train comprising a controller, wherein
during traveling of the vehicle, steering information of the vehicle is continually collected by the controller, the steering information comprising: a vehicle body position angle, a front wheel turning angle, and a rear wheel turning angle;
the vehicle body position angle is an angle representing a direction of the vehicle body, the vehicle body position angle is a first angle when a front wheel of the vehicle travels to a certain point of a travel track of the vehicle, and the vehicle body position angle is a second angle when a rear wheel of the vehicle travels to the certain point of the travel track of the vehicle; a difference between the first angle and the second angle is a vehicle body turning angle; the front wheel turning angle is a wheel turning angle of a front wheel mechanism; the rear wheel turning angle is a wheel turning angle of a rear wheel mechanism;
the controller controls the wheelset of the trailer body steering so that: the front wheel turning angle of the trailer body at a current position is equal to the front wheel turning angle of the tractor body at the current position, and the rear wheel turning angle of the trailer body at the current position is equal to the rear wheel turning angle of the tractor body at the current position; and
when front and rear wheelsets of each trailer body travel to the certain point, travel directions of the front and rear wheelsets of each trailer body are the same as travel directions of front and rear wheelsets of the tractor body at the certain point.
2. The double-wheelset trackless train according to claim 1 , wherein the rear wheel turning angle of the tractor body at the current position is equal to a turning angle of the tractor body at the current position minus the front wheel turning angle of the tractor body at the current position.