Keywords: distributed driving all axle steering virtual track train, DDAAS-VTT, path-tracking, multi-controller, vehicle dynamic.

This paper presents a new path-tracking strategy for the distributed driving all axle steering virtual track train (DDAAS-VTT). The proposed multi-controller cooperative scheme comprises the inter-unit cooperative controller and single-unit controllers. To ensure that the same motion trajectories of the adjacent unit hinge points, so as to reduce the hinge force, the centre of gravity (CG) of the first and the last unit and all of the hinge points are selected as tracking points. The target positions of every unit are computed by the cooperative controller according to the train's posture and the target path. The single unit controller adopts a hierarchical structure, where the upper layer calculates the desired CG force/moment of each unit based on model predictive control (MPC). Furthermore, the control allocation (CA) of wheel steering angle and torque is optimized by the lower layer with the tire model. The vehicle dynamic model and tire model are established. The run of the train at various velocities on the test track is carried out with a Simulink-SIMPACK co-simulation system. The result shows that the proposed control strategy can achieve high path-tracking accuracy. The advantage of minimizing hinge force and wheel sideslip angle is confirmed by comparing with Stanley and Extended_Ackermann algorithm. Moreover, the adoption of the multi-controller and hierarchical structure could reduce the control DOF, which eases the calculation enormously.

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