Steering control device for trackless train and control method therefor

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.

Claims

1. 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 α.sub.k(t) of the kth trailer carriage based on the following formula, when the trackless train is running:
α.sub.k(t)=α.sub.0(t−Δt.sub.k), where t is the traveling time of the steering drive wheel, α.sub.0(t) is the steering angle of the steering drive wheel, Δt.sub.k is a time required for the trackless train to travel by a distance of L.sub.k, where L.sub.k 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 α.sub.k(t) of the kth trailer carriage comprising: determining the steering angle α.sub.k(t) of the kth trailer carriage based on the traveling time Δt.sub.k collected by the clock, the steering angle α.sub.0(t−Δt.sub.k) of the steering drive wheel collected by the angle sensor at time t−Δt.sub.k, and the formula α.sub.k(t)=α.sub.0(t−Δt.sub.k), on the condition that the mileage output by the odometer indicates that the trackless train has traveled by the distance of L.sub.k; and controlling the steering angle of the kth trailer carriage is output based on the steering angle α.sub.k(t).

2. The steering control device for a trackless train according to claim 1, the controller is further used for performing the following steps: computing a steering angle of a follower wheel of the locomotive, according to a wheelbase between the steering drive wheel and the follower wheel and the steering angle of the steering drive wheel; and controlling the steering angle of the steered wheel of the trailer carriages in order to enable the steered wheel of the trailer carriage to follow a track of the follower wheel of the locomotive, according to the computed steering angle of the follower wheel and the acquired traveling time and traveling mileage of the follower wheels.

3. The steering control device for a trackless train according to claim 1, the locomotive is provided with a steering wheel for controlling the steering angle of the steering drive wheel.

4. The steering control device for a trackless train according to claim 1, the trailer carriage is provided with a steering mechanism for controlling the steering angle of the steered wheels.

5. The steering control device for a trackless train according to claim 4, further comprising: an optical network for connecting an output end of the controller to an input end of the steering mechanism.

6. 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 α.sub.k(t) of the kth trailer carriage based on the following formula, when the trackless train is running:
α.sub.k(t)=α.sub.0(t−Δt.sub.k), where t is the traveling time of the steering drive wheel, α.sub.0(t) is the steering angle of the steering drive wheel, Δt.sub.k is a time required for the trackless train to travel by a distance of L.sub.k, where L.sub.k 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 α.sub.k(t) of the kth trailer carriage further comprises: determining the steering angle α.sub.k(t) of the kth trailer carriage based on the traveling time Δt.sub.k collected by a clock, the steering angle α.sub.0(t−Δt.sub.k) of the steering drive wheel collected by an angle sensor at time t−Δt.sub.k, and the formula α.sub.k(t)=α.sub.0(t−Δt.sub.k), on the condition that the mileage output by an odometer indicates that the trackless train has traveled by the distance of L.sub.k; and controlling the steering angle of the kth trailer carriage is output based on the steering angle α.sub.k(t).

7. The steering control method for a trackless train according to claim 6, further comprising: computing a steering angle of a follower wheel of the locomotive, according to a wheelbase between the steering drive wheel and the follower wheel and the steering angle of the steering drive wheel; and controlling the steering angle of the steered wheel of the trailer carriages in order to enable the steered wheel of the trailer carriage to follow a track of the follower wheel of the locomotive, according to the computed steering angle of the follower wheel and the acquired traveling time and traveling mileage of the follower wheels.

8. The steering control method for a trackless train according to claim 6, further comprising: for any two trailer carriages mutually articulated, controlling a steering angle of a trailer carriage located behind, according to a steering angle of a steered wheel of a trailer carriage located at the front, a wheelbase of the two trailer carriages, and the time required for the trackless train to travel by the wheelbase.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) FIG. 1 is a schematic structural view of a trackless train according to an embodiment of the present invention.

(2) FIG. 2 is a schematic structural view of a steering control device according to an embodiment of the present invention.

(3) FIG. 3 is a schematic structural view of a trackless train having a locomotive follower wheel according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Embodiments

(4) The invention is further described below in conjunction with the drawings and specific embodiments.

(5) FIG. 1 is a schematic structural view of a trackless train according to an embodiment of the present invention. As shown in FIG. 1, the trackless train comprises a locomotive (1) and one or more trailer carriages (2) hinged to the locomotive (1), the locomotive (1) is provided with a steering wheel (3), a clock (4) and an odometer (5); the locomotive (1) is provided with an axle for a pair of steering drive wheels (6) and a controller (7), the steering wheel (3) is provided with an angle sensor (9) connected to an input end of a steering angle meter (8); the trailer carriage (2) is provided with a pair of steered wheels (11) having a steering mechanism (10).

(6) FIG. 2 is a schematic structural view of a steering control device according to an embodiment of the present invention. As shown in FIG. 2, the locomotive (1) is provided with a controller (7); the clock (4), the odometer (5) and the steering angle meter (8) all have signal output functions and their signal output ends are connected to an input end of the controller (7); an output end of the controller (7) is connected to an input end of the steering mechanisms (10) of the trailer carriage (2) via an optical network (12).

(7) Also disclosed is a steering control method for a trackless train, in which an steering drive wheel (6) and a steering angle thereof are controlled by the driver through a steering wheel (3) when the trackless train is running; a controller (7) records the time t(s) output by a clock (4), the mileage(m) output by an odometer (5) and a steering angle α.sub.0(t) of a steering drive wheel (6) output by a steering angle meter (8); assuming that the wheelbase between the steering drive wheel (6) of a locomotive and a steered wheel (11) of the kth trailer carriage (2) is L.sub.k(m), and the time required for the trackless train to travel by a distance of L.sub.k(m) is Δt.sub.k, then a control target of a steering angle α.sub.k(t) output by the controller (7) to a steering mechanisms (10) of the kth trailer carriage (2) via an optical network (12) is calculated as follows in order to enable the steered wheel (11) of the kth trailer carriage (2) to follow the track of the steering drive wheel (6) of the locomotive:
α.sub.k(t)=α.sub.0(t−Δt.sub.k), k=1,2,3, . . . ,N
wherein N represents the number of trailer carriages of the trackless train subject to steering control, N≥2.

(8) The steering mechanism of the articulated trailer carriage is driven by a stepper motor, which is easy and accurate to operate.

(9) Obviously, the present invention further provides a steering control method for a trackless train, that is, a wheel of a next trailer carriage refers to the steering angle of a wheel of a previous trailer carriage, whereby control of steering along the same track is achieved based on the wheelbase of the wheels and the traveling time required for the trackless train to travel by the wheelbase.

(10) In addition to a pair of steered wheels, the last trailer carriage may also be provided with a pair of follower wheels at the rear thereof.

(11) FIG. 3 is a schematic structural view of a trackless train having a locomotive follower wheel according to an embodiment of the present invention. The locomotive is provided with a pair of follower wheels (6′) in addition to the steering drive wheel; a steering angle of the follower wheels of the locomotive is calculated based on the wheelbase between the steering drive wheel and the follower wheels of the locomotive and the steering angle of the steering drive wheel. With the above described control target and control method, the steered wheel (11) of the kth trailer carriage (2) is enabled to follow the track of the follower wheels (6′) of the locomotive. The initial value of the steering angles of the locomotive and the respective trailer carriages may be set to 0, that is, the train is considered to be departing from a straight road.