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Journal of Physics: Conference

Series

PAPER • OPEN ACCESS

Cooperative Control of Tire Longitudinal and

Lateral Forces of Distributed Drive Virtual Rail

Train

To cite this article: Rang Zhang and Gang Shen 2023

J. Phys.: Conf. Ser.

2437 012117

View the article online for updates and enhancements.

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Published under licence by IOP Publishing Ltd

3rd International Conference on Mechanical Engineering and Materials (ICMEM 2022)

Journal of Physics: Conference Series 2437 (2023) 012117

IOP Publishing

doi:10.1088/1742-6596/2437/1/012117

Cooperative Control of Tire Longitudinal and Lateral Forces

of Distributed Drive Virtual Rail Train

Rang Zhang

and Gang Shen

Rail Transit Institute, Tongji University, Cao’an Road 4800, Shanghai, China.

Email: 1831446545@qq.com

Abstract. Hub motors are distributed on different wheels of the virtual rail train (VRT), forming

a distributed drive mode, which is conducive to simplifying the transmission system and

improving the stability and mobility of VRT. How to coordinate the relationship between the

longitudinal and lateral forces of tires is a problem that must be solved. This paper proposes a

hierarchical cooperative control method of the longitudinal and lateral forces of tires, in which

the control decision-making layer ensures the steering stability and path following performance

of VRT, and establishes an objective function based on the tire load rate at the distribution layer

to distribute the longitudinal and lateral forces of each tire. The co-simulation results based on

MATLAB / Simulink and multi-body dynamics software UM show that the cooperative control

method not only ensures the specific track requirements of the train, but also reduces the peak

load rate of the tire, optimizes the distribution of the load rate, and greatly improves the stability

of the train in the steering process.

Keyword. Virtual rail train, distributed driving, longitudinal/lateral force distribution.

1. Introduction

Virtual rail train (VRT) technology is a new type of urban rail vehicle technology that combines the

operation mode of modern urban trams with emerging vehicle technology, as shown in figure 1. It can

be used as a solution to solve the congestion of third and fourth tier cities, as well as a supplement to the

first and second tier urban transportation tools, and conforms to the national public transport

development strategy [1]. At present, VRT is mainly applied to public transport systems, such as

Siemens Civis-Irisbus system [2], France TEOR public transport system [3] and Germany Autotram

public transport system [4], mainly using optical recognition and guidance technology. The Phileas bus

system of VDL group of the Netherlands adopts magnetic nail guidance technology. The ‘intelligent

track express system’ developed by CRRC Zhuzhou research institute adopts the independently

developed ‘virtual track following control’ [5].

3rd International Conference on Mechanical Engineering and Materials (ICMEM 2022)

Journal of Physics: Conference Series 2437 (2023) 012117

IOP Publishing

doi:10.1088/1742-6596/2437/1/012117

Figure 1. VRT system.

However, the use of hub motor drive eliminates the mechanical connection between each drive shaft

and increases the freedom of drive wheels, especially for multi wheel drive and steering vehicles such

as VRT. Some literatures adopt a non-hierarchical direct control structure [6]. Among them, the reference

model and control variables are the basis of motion tracking control, the control variables used mainly

include yaw rate [7], centroid sideslip angle [8] and their coupling relationship [9]. The optimization

objectives adopted in the existing research literature mainly include minimizing motor energy

consumption to achieve energy saving objectives [10], minimizing tire utilization to achieve optimal

stability [11], and combining and optimizing various control error variables using weighting methods

[12].

In this paper, a reasonable and effective optimization algorithm is proposed to ensure the running

state of the VRT, considering the constraints such as the adhesion limit of each tire and the characteristics

of the actuator, so as to control the tire longitudinal and lateral forces cooperatively.

2. VRT Reference Dynamics Model

In order to design the generalized force controller of the VRT, it is necessary to establish a linear

reference model of the longitudinal/lateral dynamic response of the train. To facilitate modeling, the

model needs to be reasonably simplified, the friction at the hinge, the influence of the suspension system,

the vertical and roll movements of the train, the influence of aerodynamics, and the air resistance are

ignored. The figure 2 shows the distribution of the train drive motor modules, and the figure 3 shows

the train force analysis. The longitudinal/lateral linear reference dynamic model is established, including

the longitudinal, lateral and yaw motions of the three car bodies. The linear dynamic equations of the

model are shown in equations (1) - (5).

Figure 2. Drive motor distribution.

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