No abstract

This paper presents a robust active guidance controller of 1:5 scaled bogie with independent rotating wheels (IRWs) based on the Iwnicki similarity criterion in SIMPACK and MATLAB/Simulink in order to improve the stability of self-guidance and steering. Firstly, the dynamic model of bogie with IRWs is established. The active guidance steering control is realized by torque difference between the left and right wheels in the same axle that generated by four side motors. Considering the nonlinear characteristics of rail vehicles, the uncertainty of structure parameters and measurement noise, the active guidance controller using the μ-synthesis method is designed in MATLAB/Simulink by taking wheel-rail force and primary suspension force as external disturbances. The co-simulation results show that compared with the passive case, the proposed control method can significantly improve the running performance of bogie with IRWs and reduce the wheel-rail wear in both straight and curved tracks. The average wheel-rail wear number is reduced by 86% in straight track and 86.5%/99% in curved track with 5m/10m radius, respectively.