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.
LanguageEnglish
Title of host publicationProceedings of IAVSD 2019
PublisherSpringer
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 Proceedings of IAVSD 2019 (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. Proceedings of IAVSD 2019. Springer, 2019. (Lecture Notes in Mechanical Engineering).
@inproceedings{695883faa61841b8a531f383875bdfa4,
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.",
author = "Nabilah Farhat and Christopher Ward and Omar Shaebi and David Crosbee and Julian Stow and Ruichen Wang and Roger Goodall and Martin Whitley",
year = "2019",
month = "3",
day = "15",
language = "English",
series = "Lecture Notes in Mechanical Engineering",
publisher = "Springer",
booktitle = "Proceedings of IAVSD 2019",

}

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 Proceedings of IAVSD 2019. 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.

Proceedings of IAVSD 2019. Springer, 2019. (Lecture Notes in Mechanical Engineering).

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

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

PY - 2019/3/15

Y1 - 2019/3/15

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.

M3 - Conference contribution

T3 - Lecture Notes in Mechanical Engineering

BT - Proceedings of IAVSD 2019

PB - Springer

ER -

Farhat N, Ward C, Shaebi O, Crosbee D, Stow J, Wang R et al. Controlling a rail vehicle with independently-rotating wheels. In Proceedings of IAVSD 2019. Springer. 2019. (Lecture Notes in Mechanical Engineering).