Path-following control strategy for gantry virtual track train based on distributed virtual driving model

In this paper, a chained architecture of virtual track train (VTT), gantry virtual track train (G-VTT), was proposed. The distributed virtual driving model (DVD model) for G-VTT was proposed to realise the automatic tracking of paths with arbitrary ommon curves. The core of the DVD model is the cascade modular wheel steering angle (WSA) control algorithm based on the optimal lateral acceleration (OLA) of tracking points. A local tracking objective function based on 2-norm was established to find the OLA in the preview window, thereby the optimal local trajectory was realised. The cascade structure of the algorithm gives the DVD model the advantages of modularity and high scalability, facilitating the cascade control of an n-unit G-VTT. The proposed control strategy was verified by co-simulation of G-VTT dynamics model and the DVD model. Results show that the DVD model can effectively improve the path-following ability and small-curve-passing capacity of the G-VTT with remarkable reduction of the lateral deviation (up to about 99.16%) and turning passageway width (about 59.71%); Besides, the yaw and anti-jackknifing stability of the train are also significantly improved, and the DVD model is well adaptable to speed, curve radius, and payload.