Abstract
Within the Shift2Rail project Run2Rail, an innovative single axle running gear with only one suspension step is proposed. A composite material frame shall be used both as structural and as suspension element. To improve curving performance active wheelset steering control is introduced. The selected control aims to minimize the longitudinal creepage by controlling the lateral wheelset position on the track. A two-axle vehicle is created in the MBS program SIMPACK and co-simulation is established with Simulink. The control strategy used is a simple PID control. A set of run cases with different curves and speeds is selected to verify the performance. The control gain optimal for high non-compensated lateral acceleration (NLA) tends to produce unstable results for low speeds. Control gain scaling is introduced based on vehicle speed and online estimation of the curvature. The proposed gain scheduling approach maintains the simple control formulation still solving the instability problem. Gain scheduling allows use of optimal control gains for all combinations of curve radii and vehicle speed and thereby taking the full advantage that the active wheelset steering brings to a vehicle with single axle running gears.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Mei, T.X., Goodall, R.M.: Recent development in active steering of railway vehicles. Veh. Syst. Dyn. 39(6), 415–436 (2003)
Bruni, S., Goodall, R., Mei, T.X., Tsunashima, H.: Control and monitoring for railway vehicle dynamics. User Model. User Adapt. Interact. 45(7–8), 743–779 (2007)
Shen, G., Goodall, R.: Active yaw relaxation for improved bogie performance. Veh. Syst. Dyn. 28, 273–289 (1997)
Shen, S., Mei, T.X., Goodall, R.M., Pearson, J.T.: A novel control strategy for active steering of railway bogies. Electr. Eng. (2004)
Mei, T.X., Shen, S., Goodall, R.M., Pearson, J.T.: Active steering control for railway bogies based on displacement measurments. IFAC 38(1), 586–591 (2005)
Qazizadeh, A., Stichel, S.: Improved curving performance for two-axle rail vehicles with actuated solid wheelsets using H∞ control. In: Proceedings of the 2016 Joint Rail Conference, pp. 1–8 (2015)
Hwang, I.K., Hur, H.M., Kim, M.J., Park, T.W.: Analysis of the active control of steering bogies for the dynamic characteristics on real track conditions. Proc. Inst. Mech. Eng. Part F J. Rail Rapid Transit 232(3), 722–733 (2018)
Skogestad, S., Postlethwaite, I.: Multivariable Feedback Control - Analysis and Design, 3rd edn. Wiley-Blackwell, Hoboken (2001)
Qazizadeh, A., Stichel, S., Feyzmahdavian, H.R.: Wheelset curving guidance using H∞ control. Veh. Syst. Dyn. 56(3), 461–484 (2018)
Schwarz, C., Keck, A., Brembeck, J., Bünte, T., Heckmann, A.: Control development for the scaled experimental railway running gear of DLR. In: The Dynamics of Vehicles on Roads and Tracks, pp. 909–918 (2016)
Ackermann, J.: Robust Control: Systems with Uncertain Physical Parameters, vol. 84, no. 10. Springer, London (1996)
Selamat, H., Yusof, R., Goodall, R.M.: Self-tuning control for active steering of a railway vehicle with solid-axle wheelsets. IET Control Theory Appl. 2(5), 374–383 (2008)
Pérez, J., Busturia, J.M., Goodall, R.M.: Control strategies for active steering of bogie-based railway vehicles. Control Eng. Pract. 10(9), 1005–1012 (2002)
Mei, T.X., Goodall, R.M.: Wheelset control strategies for a two-axle railway vehicle. Veh. Syst. Dyn. 33(Supplement), 653–664 (1999)
Aström, K.J., Murray, R.M.: Feedback Systems - An Introduction for Scientists and Engineers, vol. 5, no. 5. Princeton University Press, Princeton (2009). Version v2.10b
Acknowledgments
This project has received funding from the Shift2Rail Joint Undertaking under the European Union’s Horizon 2020 research and innovation program under grant agreement (No. 777564). The content of this paper reflects only the author’s view and the JU is not responsible for any use that may be made of the information it contains.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Giossi, R.L., Persson, R., Stichel, S. (2020). Gain Scaling for Active Wheelset Steering on Innovative Two-Axle Vehicle. In: Klomp, M., Bruzelius, F., Nielsen, J., Hillemyr, A. (eds) Advances in Dynamics of Vehicles on Roads and Tracks. IAVSD 2019. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-38077-9_7
Download citation
DOI: https://doi.org/10.1007/978-3-030-38077-9_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-38076-2
Online ISBN: 978-3-030-38077-9
eBook Packages: EngineeringEngineering (R0)