Dynamic Modeling of Multi-category Jointing for the Autonomous-railRapid Tram and Real Vehicle Validation
Autonomous-rail rapid tram replaces traditional steel wheels with rubber tires, and uses machine vision to track the central virtual track line to control vehicle motion. In order to iteratively optimize and reduce the lateral deviation of the precision lane keeping control system, a 35 m train dyna...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Control and Information Technology
2020-01-01
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| Series: | Kongzhi Yu Xinxi Jishu |
| Subjects: | |
| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2020.06.004 |
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| _version_ | 1849224894668079104 |
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| author | HUANG Ruipeng YUAN Xiwen HU Yunqing ZHANG Xinrui ZHANG Sha LI Xiaoguang |
| author_facet | HUANG Ruipeng YUAN Xiwen HU Yunqing ZHANG Xinrui ZHANG Sha LI Xiaoguang |
| author_sort | HUANG Ruipeng |
| collection | DOAJ |
| description | Autonomous-rail rapid tram replaces traditional steel wheels with rubber tires, and uses machine vision to track the central virtual track line to control vehicle motion. In order to iteratively optimize and reduce the lateral deviation of the precision lane keeping control system, a 35 m train dynamic model was built in this paper to meet the characteristics of autonomous-rail rapid tram such as tire-ground coupling and multi-group flexible articulating. Through the Matlab / Simulink dynamic model simulation test, it is verified that the dynamic model can show fast track driving of an autonomous-rail rapid tram in a narrow gauge of an old city and precise docking of a small platform gap (the deviation is controlled at 8~12 cm). |
| format | Article |
| id | doaj-art-9da999682ee84368aaa7d429be61bcc9 |
| institution | Kabale University |
| issn | 2096-5427 |
| language | zho |
| publishDate | 2020-01-01 |
| publisher | Editorial Office of Control and Information Technology |
| record_format | Article |
| series | Kongzhi Yu Xinxi Jishu |
| spelling | doaj-art-9da999682ee84368aaa7d429be61bcc92025-08-25T06:50:26ZzhoEditorial Office of Control and Information TechnologyKongzhi Yu Xinxi Jishu2096-54272020-01-01371982319291Dynamic Modeling of Multi-category Jointing for the Autonomous-railRapid Tram and Real Vehicle ValidationHUANG RuipengYUAN XiwenHU YunqingZHANG XinruiZHANG ShaLI XiaoguangAutonomous-rail rapid tram replaces traditional steel wheels with rubber tires, and uses machine vision to track the central virtual track line to control vehicle motion. In order to iteratively optimize and reduce the lateral deviation of the precision lane keeping control system, a 35 m train dynamic model was built in this paper to meet the characteristics of autonomous-rail rapid tram such as tire-ground coupling and multi-group flexible articulating. Through the Matlab / Simulink dynamic model simulation test, it is verified that the dynamic model can show fast track driving of an autonomous-rail rapid tram in a narrow gauge of an old city and precise docking of a small platform gap (the deviation is controlled at 8~12 cm).http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2020.06.004dynamic model simulationautonomous-rail rapid trammodel predictive controlpath trackinglane keeping control systemmachine vision |
| spellingShingle | HUANG Ruipeng YUAN Xiwen HU Yunqing ZHANG Xinrui ZHANG Sha LI Xiaoguang Dynamic Modeling of Multi-category Jointing for the Autonomous-railRapid Tram and Real Vehicle Validation Kongzhi Yu Xinxi Jishu dynamic model simulation autonomous-rail rapid tram model predictive control path tracking lane keeping control system machine vision |
| title | Dynamic Modeling of Multi-category Jointing for the Autonomous-railRapid Tram and Real Vehicle Validation |
| title_full | Dynamic Modeling of Multi-category Jointing for the Autonomous-railRapid Tram and Real Vehicle Validation |
| title_fullStr | Dynamic Modeling of Multi-category Jointing for the Autonomous-railRapid Tram and Real Vehicle Validation |
| title_full_unstemmed | Dynamic Modeling of Multi-category Jointing for the Autonomous-railRapid Tram and Real Vehicle Validation |
| title_short | Dynamic Modeling of Multi-category Jointing for the Autonomous-railRapid Tram and Real Vehicle Validation |
| title_sort | dynamic modeling of multi category jointing for the autonomous railrapid tram and real vehicle validation |
| topic | dynamic model simulation autonomous-rail rapid tram model predictive control path tracking lane keeping control system machine vision |
| url | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2020.06.004 |
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