Constraint-force driven control design for rail vehicle virtual coupling

This study investigates the constraint-force driven control problem of virtual coupling. To solve the constraint force, the explicit equation of vehicle motion with equality constraints is established using the Udwadia-Kalaba approach. First of all, this study introduces a brief overview of virtual coupling concepts in the European Railway Traffic Management System and some scenes of virtual coupling. The control method is proposed to enable the mechanical system to follow the designed constraint. Moreover, the dynamic model for virtual coupling problem is established. Second, combined with the dynamic model, the equation constraint is designed to make the rail vehicle movenment reach the control objective. By solving the equation based on the Udwadia-Kalaba approach, the control inputs that can render the vehicle to move along the desired trajectory. Third, numerical simulation results demonstrate the effectiveness of the proposed method in virtual coupling problem.