【作者】 张弦；

【导师】 周文祥；

【作者基本信息】 西南交通大学 ， 车辆工程， 2013， 硕士

【摘要】 100%低地板车辆以其低站台、方便乘客上下车的优势,成为城市轻轨交通的首选。而独立轮对结构,是实现100%低地板的必要条件,独立轮对的导向性能不如传统刚性轮对,需要采用措施改善其导向性能。为此,针对已有的模型车,对独立轮对导向控制问题进行了如下研究：首先,研究了轮对的重力横向复原力、蠕滑力、主动控制导向的原理,并建立Matlab数学模型分析了刚性轮对和独立轮对的导向机理,独立轮对直线对中和曲线导向性能不如刚性轮对的根本原因是缺少纵向蠕滑力矩,认为主动控制是解决独立轮对车辆导向问题的主要途径之一。其次,针对已有的独立轮对模型车,设计了一个基于DSP2812的自动导向闭环控制方案,以解决独立轮对模型车的直线对中问题。闭环控制系统主要由反馈量检测和电机控制两个子系统构成。第4章给出了反馈量检测子系统的软、硬件结构：采用GEFGAN拉杆式位移传感器得到模型车独立轮对的姿态信息；DSP主控制板通过AD73360采集芯片对GEFGAN拉杆式位移传感器的电压信号进行实时采集。第5章给出了电机闭环控制系统的具体方案：根据得到的位移信号,主程序计算出相应的左、右车轮转速目标值；DSP主控制板通过伺服控制器对两个伺服电机进行转速实时控制,从而对左、右车轮进行转速差控制,对独立轮对模型车进行自动导向。最后,利用已有的模型车,对闭环控制系统进行了具体测试,对闭环控制方案的参数进行了具体优化。实验结果表明：本文设计的闭环控制系统可以解决独立轮对模型车自动对中问题。更多还原

【Abstract】 100%Low-floor LRT vehicles which are suitable for passengers to get on and off,have become more and more welcomed by the urban rail transport. Independent rotating wheel (IRW) structure is a necessary condition to achieve100%low-floor, compared with the traditional wheels, the IRW lacks the ability to be automated guided on the tracks. Using an independent wheel model car, this paper finished foundation study on the guided problem as follow:Firstly, in Chapter2research was started from the gravity lateral resilience, creep forces and active control, the IRW lacks the ability to be automated guided on the tracks with the lack of longitudinal creep torque. Active control has been one of the main ways to solve the guide problem of independent wheels.Using an independent wheel model car, a closed loop control system based on the DSP2812was designed in this thesis in chapter three to solve the problem of automated guide of the independent wheel model car. The closed loop control includes an AD data system and a motor control system.In Chapter4, the AD acquisition part was finished.Using the speed control, the speeds of the left and right wheels can be controlled. The system takes the information of the independent wheel model car by a GEFGAN displacement sensor. The DSP main control board uses an AD73360to acquire the voltage signal of the sensor.In Chapter5, the motor control part in the closed loop control system was finished. The control board calculates the corresponding wheel speed of the left and right wheel according to the AD acquisition part. Using two serve controllers, the DSP main control board can control the serve motors, and guide the model car.Finally, with the model cars, using the closed-loop control system, a specific test was carried out, and finished the optimization of the parameters of the closed-loop control programs. Experimental results show that:Using the design of the closed-loop control system in this paper can solve the guide problem of the independent wheel model car.更多还原