3818 鉄道車両独立回転操舵台車の車輪・レール間相対左右変位推定値を用いた軌道追従制御(J23-1 交通機械の制御(1)(車両運動の推定と制御),J23 交通機械の制御)

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  • 3818 Tracking control of steering bogie with I.R.W. using estimated lateral displacement between wheel and rail

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Railway truck is necessary to have excellent curving performance as well as high speed hunting stability, but generally they are contrary to each other. This paper proposes the new steering bogie which combines steering. Independently rotating wheel with EEF bogie naturally has self steering ability making use of gravity restoring force aroused by nonlinear tread gradient. But bogie with independently rotating wheels is hard to keep running neutral position. To keep running neutral position, it is required active steering control method. Then, Virtual linkage model is considered to be effective for keeping running neutral position and running stability along the rail. In order to control running stability, the estimation method for rail/wheel lateral displacement is necessary. Experimental results with scaled model vehicle show the effectiveness of estimation methods and running stability control.

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