关键词: 车辆工程；单轴跨座式单轨车辆；主动控制；SAC算法

Abstract: To address the insufficient lateral stability of single-axle straddle-type monorail vehicles during operation, a specific type of single-axle straddle-type monorail vehicle was taken as the research object. Based on the Adams multibody dynamics vehicle model, an Adams/Simulink co-simulation environment was established. The SAC algorithm was integrated with the dynamics model of the single-axle straddle-type monorail vehicle to construct an intelligent active control framework, and the corresponding reward function and constraints were designed. Random road excitation generated from the Japanese track spectrum and finger-shaped road excitation were used as inputs to conduct control strategy training and simulation verification under different vehicle speed conditions. The simulation results show that, compared with the passive state and Skyhook control, SAC control can reduce key evaluation indicators such as vehicle body lateral acceleration, yaw angular acceleration and roll angular acceleration, thereby improving the lateral stability of the vehicle body. Meanwhile, SAC control exhibits good stability and control performance under different vehicle-speed conditions.

Key words: vehicle engineering; single-axle straddle-type monorail vehicle; active control; SAC algorithm