Study on the stabilization of railway vehicles with independently rotating wheels by control of steering on wheelset

Some experimental and theoretical investigations were carried out to stabilize the dynamic motions of a vehicle with independently rotating wheels by control of steering on wheels. Scale model (about 1/8) of independently rotating 4 wheels bogie with drive motors was made. The wheels steering angle was controlled by actuator using a personal computer with the information of lateral displacement of the bogie. Equations of motion were derived and simulation was performed. In the experiment, the differential term was added to the target steering angle calculation, and the reduction effect of an overshoot value was examined. And the change in the curving characteristics by the difference of the control rules was described. Simulations results were shown with the considerations of influence of control parameters and the qualitative agreement with the experimental results.