Research on Multi-axis Steering Control Method and Simulation of Train-like Vehicle

Train-like vehicle, with advantages of large capacity and high one-way traffic flow conveying rate etc., can effectively solve the problem of traffic jam in cities, and meet the travel requirements of urban resident on working and living trips. However, due to the increase of the length of the train-like vehicle, the flexibility of movement decreases, which increases the difficulty of the maneuverability of the train-like vehicle. Therefore, the steering control method of the train-like vehicle is studied in this paper. Based on the principle of the virtual displacement and the virtual work, this paper establishes a general dynamic equation of the train-like vehicle, then proposes a multi-axis coordinated steering control law for the car model, and constructs a Lyapunov function. The Lyapunov direct method is used to prove that the train-like vehicle can travel along the target route. Finally, a simulation model of train-like vehicle with 3-body and 4-axle is established to track the step route and the sinusoidal route respectively. The simulation results show that the proposed multi-axis steering control method of train-like vehicle can control the train-like vehicle to track multiple target routes. © 2019 Journal of Mechanical Engineering.