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 contributionpeer-review

2 Citations (Scopus)


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 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
Number of pages9
ISBN (Electronic)9783030380779
ISBN (Print)9783030380762
Publication statusPublished - 14 Feb 2020
Event26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks - Gothenburg, Sweden
Duration: 12 Aug 201916 Aug 2019
Conference number: 26

Publication series

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


Conference26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks
Abbreviated titleIAVSD 2019
Internet address


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