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US 11,110,959 B2Granted
Steering control device for trackless train and control method therefor
AssigneesSouthwest Jiaotong University, Qunzhan Li
InventorQunzhan Li
Life of this patent
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Abstract
A trackless train is formed of a locomotive hinged to carriages of N trailers. A controller is provided at the locomotive, wherein an input end of the controller is connected to an output end of a clock, an odometer and the steering angle meter, and an output end of the controller is connected to an input end of the steering mechanism of each one of the trailers via an optical network. The controller can fully describe and control a travelling track of the trackless train, such that the steered wheels of the trailer carriages and the steering drive wheels of the locomotives maintain the same track during travel.
Claims8
A steering control device for a trackless train, comprising:
- an angle sensor for acquiring a steering angle of a steering drive wheel of a locomotive of the trackless train;
- a clock for acquiring a traveling time of the steering drive wheel of the locomotive of the trackless train;
- an odometer for acquiring a traveling mileage of the steering drive wheel of the locomotive of the trackless train;
- and
- a controller for controlling a steering angle of a steered wheel of a trailer carriage hinged to the locomotive in order to enable the steered wheel of the trailer carriage to follow a track of the steering drive wheel of the locomotive, according to the acquired steering angle, traveling time and traveling mileage of the steering drive wheels, wherein
- the controller further for controlling a steering angle αk(t) of the kth trailer carriage based on the following formula, when the trackless train is running:
- αk(t)=α0(t−Δtk),
- where t is the traveling time of the steering drive wheel, α0(t) is the steering angle of the steering drive wheel, Δtk is a time required for the trackless train to travel by a distance of Lk, where Lk is a wheelbase between the steering drive wheel of the locomotive and a steering wheel of the kth trailer carriage disposed behind the locomotive, and k=1, 2, 3, . . . , N, where N represents the number of trailer carriages of the trackless train subject to steering control, and N≥2,
- wherein the controller is further used for controlling a steering angle αk(t) of the kth trailer carriage comprising:
- determining the steering angle αk(t) of the kth trailer carriage based on the traveling time Δtk collected by the clock, the steering angle α0(t−Δtk) of the steering drive wheel collected by the angle sensor at time t−Δtk, and the formula αk(t)=α0(t−Δtk), on the condition that the mileage output by the odometer indicates that the trackless train has traveled by the distance of Lk;
- and
- controlling the steering angle of the kth trailer carriage is output based on the steering angle αk(t).
9 more elements
A steering control method for a trackless train, comprising:
- acquiring a steering angle of a steering drive wheel of a locomotive of the trackless train;
- acquiring a traveling time of the steering drive wheel of the locomotive of the trackless train;
- acquiring a traveling mileage of the steering drive wheel of the locomotive of the trackless train;
- and
- controlling a steering angle of a steered wheel of a trailer carriage hinged to the locomotive in order to enable the steered wheel of the trailer carriage to follow a track of the steering drive wheel of the locomotive, according to the acquired steering angle, traveling time and traveling mileage of the steering drive wheels,
- the controlling a steering angle of a steered wheel of a trailer carriage hinged to the locomotive further comprising:
- controlling a steering angle αk(t) of the kth trailer carriage based on the following formula, when the trackless train is running:
- αk(t)=α0(t−Δtk),
- where t is the traveling time of the steering drive wheel, α0(t) is the steering angle of the steering drive wheel, Δtk is a time required for the trackless train to travel by a distance of Lk, where Lk is a wheelbase between the steering drive wheel of the locomotive and a steering wheel of the kth trailer carriage disposed behind the locomotive, and k=1, 2, 3, . . . , N, where N represents the number of trailer carriages of the trackless train subject to steering control, and N≥2,
- wherein the controlling a steering angle αk(t) of the kth trailer carriage further comprises:
- determining the steering angle αk(t) of the kth trailer carriage based on the traveling time Δtk collected by a clock, the steering angle α0(t−Δtk) of the steering drive wheel collected by an angle sensor at time t−Δtk, and the formula αk(t)=α0(t−Δtk), on the condition that the mileage output by an odometer indicates that the trackless train has traveled by the distance of Lk;
- and
- controlling the steering angle of the kth trailer carriage is output based on the steering angle αk(t).
10 more elements
Dependencies are inferred from the claim text.