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