Research on Virtual Track Train Path-Tracking Control Based on Improved MPC and Hierarchical Framework: A Reconfigurable Approach

The virtual track train (VTT) is a new urban public transportation system that adopts all-axle steering and distributed drive. Super autonomous Rail rapid Transit (SRT), as one of them, four-module six-axle structure. In response to its crucial problem, path tracking, this article proposes reconfigurable dynamic modeling method, which has two parts: multi-body dynamics model with generalized forces at each module’s center gravity (CG) the input, CG force model, expresses generated by wheel control inputs. Then, path-tracking strategy proposed based on improved MPC hierarchical framework. Firstly, module required for tracking were calculated, then redistribution was performed “virtual axle” method proposed. Finally, state allocated. This reduces complexity layer controller it solves problem insufficient actuators in middle modules SRT. through hardware-in-the-loop (HIL) real-time simulation comparison different strategies, strategy’s effectiveness, adaptability, robustness verified.