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 proceedingConference contribution

Abstract

Active suspensions to inuence the running gear of a rail vehicle have been studied widely and proposed as a solution to overcoming the inherent suspension design conict between curving and guidance. Some of this research has suggested that a vehicle with independently-rotating wheels (IRWs) will provide the best solution in terms of vehicle performance and lower actuation requirements. This paper takes this research further by designing and implementing a cascaded controller for IRWs on multi-body physics simulation (MBS) of a British Rail Class 230 D-train with modied bogies. A cascaded control approach is adopted in this paper because it is theoretically more robust against parametric variations than a single feedback controller. The robustness of the control strategy is assessed in dierent track proles and parametric variations such as adhesion coecients, vehicle speed and mass. The full paper will include analysis of the frequency response of the models which were the basis of the controller design and a detailed assessment of the robustness of the cascaded control strategy.
Original languageEnglish
Title of host publicationAdvances in Dynamics of Vehicles on Roads and Tracks
Subtitle of host publicationProceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden
EditorsMatthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr
PublisherSpringer
ISBN (Electronic)9783030380779
ISBN (Print)9783030380762
Publication statusAccepted/In press - 15 Mar 2019
Event26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks - Gothenburg, Sweden
Duration: 12 Aug 201916 Aug 2019
https://iavsd2019.se/

Publication series

NameLecture Notes in Mechanical Engineering
PublisherSpringer
ISSN (Print)2195-4356
ISSN (Electronic)2195-4364

Conference

Conference26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks
CountrySweden
CityGothenburg
Period12/08/1916/08/19
Internet address

Fingerprint

Rails
Wheels
Robustness (control systems)
Controllers
Vehicle performance
Frequency response
Gears
Adhesion
Physics
Feedback

Cite this

Farhat, N., Ward, C., Shaebi, O., Crosbee, D., Stow, J., Wang, R., ... Whitley, M. (Accepted/In press). 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.
Farhat, Nabilah ; Ward, Christopher ; Shaebi, Omar ; Crosbee, David ; Stow, Julian ; Wang, Ruichen ; Goodall, Roger ; Whitley, Martin. / 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, 2019. (Lecture Notes in Mechanical Engineering).
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title = "Controlling a rail vehicle with independently-rotating wheels",
abstract = "Active suspensions to inuence the running gear of a rail vehicle have been studied widely and proposed as a solution to overcoming the inherent suspension design conict between curving and guidance. Some of this research has suggested that a vehicle with independently-rotating wheels (IRWs) will provide the best solution in terms of vehicle performance and lower actuation requirements. This paper takes this research further by designing and implementing a cascaded controller for IRWs on multi-body physics simulation (MBS) of a British Rail Class 230 D-train with modied bogies. A cascaded control approach is adopted in this paper because it is theoretically more robust against parametric variations than a single feedback controller. The robustness of the control strategy is assessed in dierent track proles and parametric variations such as adhesion coecients, vehicle speed and mass. The full paper will include analysis of the frequency response of the models which were the basis of the controller design and a detailed assessment of the robustness of the cascaded control strategy.",
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Farhat, N, Ward, C, Shaebi, O, Crosbee, D, Stow, J, Wang, R, Goodall, R & Whitley, M 2019, 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, 26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks, Gothenburg, Sweden, 12/08/19.

Controlling a rail vehicle with independently-rotating wheels. / Farhat, Nabilah; Ward, Christopher; Shaebi, Omar; Crosbee, David; Stow, Julian; Wang, Ruichen; Goodall, Roger; Whitley, Martin.

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, 2019. (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AU - Ward, Christopher

AU - Shaebi, Omar

AU - Crosbee, David

AU - Stow, Julian

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AU - Goodall, Roger

AU - Whitley, Martin

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N2 - Active suspensions to inuence the running gear of a rail vehicle have been studied widely and proposed as a solution to overcoming the inherent suspension design conict between curving and guidance. Some of this research has suggested that a vehicle with independently-rotating wheels (IRWs) will provide the best solution in terms of vehicle performance and lower actuation requirements. This paper takes this research further by designing and implementing a cascaded controller for IRWs on multi-body physics simulation (MBS) of a British Rail Class 230 D-train with modied bogies. A cascaded control approach is adopted in this paper because it is theoretically more robust against parametric variations than a single feedback controller. The robustness of the control strategy is assessed in dierent track proles and parametric variations such as adhesion coecients, vehicle speed and mass. The full paper will include analysis of the frequency response of the models which were the basis of the controller design and a detailed assessment of the robustness of the cascaded control strategy.

AB - Active suspensions to inuence the running gear of a rail vehicle have been studied widely and proposed as a solution to overcoming the inherent suspension design conict between curving and guidance. Some of this research has suggested that a vehicle with independently-rotating wheels (IRWs) will provide the best solution in terms of vehicle performance and lower actuation requirements. This paper takes this research further by designing and implementing a cascaded controller for IRWs on multi-body physics simulation (MBS) of a British Rail Class 230 D-train with modied bogies. A cascaded control approach is adopted in this paper because it is theoretically more robust against parametric variations than a single feedback controller. The robustness of the control strategy is assessed in dierent track proles and parametric variations such as adhesion coecients, vehicle speed and mass. The full paper will include analysis of the frequency response of the models which were the basis of the controller design and a detailed assessment of the robustness of the cascaded control strategy.

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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. 2019. (Lecture Notes in Mechanical Engineering).