Controlling a Rail Vehicle with Independently-Rotating Wheels

Nabilah Farhat; Christopher Ward; Omar Shaebi; David Crosbee; Julian Stow; Ruichen Wang; Roger Goodall; Martin Whitley

doi:10.1007/978-3-030-38077-9_4

Controlling a Rail Vehicle with Independently-Rotating Wheels

Nabilah Farhat, Christopher Ward, Omar Shaebi, David Crosbee, Julian Stow, Ruichen Wang, Roger Goodall, Martin Whitley

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

A conventional rail vehicle has a purely mechanical suspension consisting of springs and dampers. Their performance is determined mainly by spring stiffnesses, damper coefficients and the sprung and unsprung masses. As a result, the guidance forces generated at the wheel-rail contact are not optimised for a particular track curvature or profile. This leads to a contradictory requirement for a stiff suspension for guidance and a softer suspension for steering, and conventional vehicles have to be designed for a wide range of operating regimes. Active suspensions to influence the running gear of a rail vehicle have been studied widely [1] and proposed as a solution to overcoming the inherent suspension design conflict between stability and guidance. Some of this research has suggested that an active vehicle with independently-rotating wheels (IRWs) will provide the best solution in terms of vehicle performance and lower actuation requirements [2]. This paper takes this research further by designing and implementing a robust controller for IRWs on a multi-body physics simulation (MBS) model of a British Rail Class 230 D-train with modified bogies.

Original language	English
Title of host publication	Advances in Dynamics of Vehicles on Roads and Tracks
Subtitle of host publication	Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden
Editors	Matthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr
Publisher	Springer
Pages	31-39
Number of pages	9
ISBN (Electronic)	9783030380779
ISBN (Print)	9783030380762
DOIs	https://doi.org/10.1007/978-3-030-38077-9_4
Publication status	Published - 14 Feb 2020
Event	26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks - Gothenburg, Sweden Duration: 12 Aug 2019 → 16 Aug 2019 Conference number: 26 https://iavsd2019.se/

Publication series

Name	Lecture Notes in Mechanical Engineering
Publisher	Springer
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks
Abbreviated title	IAVSD 2019
Country/Territory	Sweden
City	Gothenburg
Period	12/08/19 → 16/08/19
Internet address	https://iavsd2019.se/

Access to Document

10.1007/978-3-030-38077-9_4Licence: Unspecified

Cite this

Farhat, N., Ward, C., Shaebi, O., Crosbee, D., Stow, J., Wang, R., Goodall, R., & Whitley, M. (2020). Controlling a Rail Vehicle with Independently-Rotating Wheels. In M. Klomp, F. Bruzelius, J. Nielsen, & A. Hillemyr (Eds.), Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden (pp. 31-39). (Lecture Notes in Mechanical Engineering). Springer. https://doi.org/10.1007/978-3-030-38077-9_4

Farhat, Nabilah ; Ward, Christopher ; Shaebi, Omar et al. / Controlling a Rail Vehicle with Independently-Rotating Wheels. Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden. editor / Matthijs Klomp ; Fredrik Bruzelius ; Jens Nielsen ; Angela Hillemyr. Springer, 2020. pp. 31-39 (Lecture Notes in Mechanical Engineering).

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title = "Controlling a Rail Vehicle with Independently-Rotating Wheels",

abstract = "A conventional rail vehicle has a purely mechanical suspension consisting of springs and dampers. Their performance is determined mainly by spring stiffnesses, damper coefficients and the sprung and unsprung masses. As a result, the guidance forces generated at the wheel-rail contact are not optimised for a particular track curvature or profile. This leads to a contradictory requirement for a stiff suspension for guidance and a softer suspension for steering, and conventional vehicles have to be designed for a wide range of operating regimes. Active suspensions to influence the running gear of a rail vehicle have been studied widely [1] and proposed as a solution to overcoming the inherent suspension design conflict between stability and guidance. Some of this research has suggested that an active vehicle with independently-rotating wheels (IRWs) will provide the best solution in terms of vehicle performance and lower actuation requirements [2]. This paper takes this research further by designing and implementing a robust controller for IRWs on a multi-body physics simulation (MBS) model of a British Rail Class 230 D-train with modified bogies.",

keywords = "Wheel-motor, Robust control, Active suspension, IRW vehicle",

author = "Nabilah Farhat and Christopher Ward and Omar Shaebi and David Crosbee and Julian Stow and Ruichen Wang and Roger Goodall and Martin Whitley",

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Farhat, N, Ward, C, Shaebi, O, Crosbee, D , Stow, J, Wang, R, Goodall, R & Whitley, M 2020, Controlling a Rail Vehicle with Independently-Rotating Wheels. in M Klomp, F Bruzelius, J Nielsen & A Hillemyr (eds), Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden. Lecture Notes in Mechanical Engineering, Springer, pp. 31-39, 26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks, Gothenburg, Sweden, 12/08/19. https://doi.org/10.1007/978-3-030-38077-9_4

Controlling a Rail Vehicle with Independently-Rotating Wheels. / Farhat, Nabilah; Ward, Christopher; Shaebi, Omar et al.

Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden. ed. / Matthijs Klomp; Fredrik Bruzelius; Jens Nielsen; Angela Hillemyr. Springer, 2020. p. 31-39 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Controlling a Rail Vehicle with Independently-Rotating Wheels

AU - Farhat, Nabilah

AU - Ward, Christopher

AU - Shaebi, Omar

AU - Crosbee, David

AU - Stow, Julian

AU - Wang, Ruichen

AU - Goodall, Roger

AU - Whitley, Martin

N1 - Conference code: 26

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Y1 - 2020/2/14

N2 - A conventional rail vehicle has a purely mechanical suspension consisting of springs and dampers. Their performance is determined mainly by spring stiffnesses, damper coefficients and the sprung and unsprung masses. As a result, the guidance forces generated at the wheel-rail contact are not optimised for a particular track curvature or profile. This leads to a contradictory requirement for a stiff suspension for guidance and a softer suspension for steering, and conventional vehicles have to be designed for a wide range of operating regimes. Active suspensions to influence the running gear of a rail vehicle have been studied widely [1] and proposed as a solution to overcoming the inherent suspension design conflict between stability and guidance. Some of this research has suggested that an active vehicle with independently-rotating wheels (IRWs) will provide the best solution in terms of vehicle performance and lower actuation requirements [2]. This paper takes this research further by designing and implementing a robust controller for IRWs on a multi-body physics simulation (MBS) model of a British Rail Class 230 D-train with modified bogies.

AB - A conventional rail vehicle has a purely mechanical suspension consisting of springs and dampers. Their performance is determined mainly by spring stiffnesses, damper coefficients and the sprung and unsprung masses. As a result, the guidance forces generated at the wheel-rail contact are not optimised for a particular track curvature or profile. This leads to a contradictory requirement for a stiff suspension for guidance and a softer suspension for steering, and conventional vehicles have to be designed for a wide range of operating regimes. Active suspensions to influence the running gear of a rail vehicle have been studied widely [1] and proposed as a solution to overcoming the inherent suspension design conflict between stability and guidance. Some of this research has suggested that an active vehicle with independently-rotating wheels (IRWs) will provide the best solution in terms of vehicle performance and lower actuation requirements [2]. This paper takes this research further by designing and implementing a robust controller for IRWs on a multi-body physics simulation (MBS) model of a British Rail Class 230 D-train with modified bogies.

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BT - Advances in Dynamics of Vehicles on Roads and Tracks

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A2 - Bruzelius, Fredrik

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Farhat N, Ward C, Shaebi O, Crosbee D , Stow J, Wang R et al. Controlling a Rail Vehicle with Independently-Rotating Wheels. In Klomp M, Bruzelius F, Nielsen J, Hillemyr A, editors, Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden. Springer. 2020. p. 31-39. (Lecture Notes in Mechanical Engineering). Epub 2020 Feb 13. doi: 10.1007/978-3-030-38077-9_4

Controlling a Rail Vehicle with Independently-Rotating Wheels

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