A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels

被引：1

作者：

Liu, Xiaoyuan ^{[1
]}

Goodall, Roger ^{[1
]}

Iwnicki, Simon ^{[1
]}

机构：

[1] Univ Huddersfield, Inst Railway Res, Huddersfield HD1 3DH, W Yorkshire, England

来源：

ADVANCES IN DYNAMICS OF VEHICLES ON ROADS AND TRACKS, IAVSD 2019 | 2020年

关键词：

Independently-rotating wheels; Stability; Curve negotiation; Active control;

D O I：

10.1007/978-3-030-38077-9_3

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A simple control solution to realize the automatic steering and stability of the motorized independently-rotating wheel (IRW) configuration is proposed in this paper. Associated with a prototype of a two-axle vehicle, an active control strategy is developed to improve the dynamic behavior of the IRW system, especially the steering performances in curve negotiation. The simulation results demonstrate a significant reduction in the wheel/rail interaction without leading to instability issues owing to the proposed control approach.

引用

页码：24 / 30

页数：7

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