Research on the path-following control of rubber-tire trackless train with bogies

Aiming at the light rail train with rubber wheel bogies, a path-following control scheme based on road line recognition was proposed. The path-following performance and dynamics performance of the train were analyzed based on a dynamic model of a train with three car bodies. Acquiring the information of the road line, the "feedforward and feedback" method was used to ensure the train to path-following with better dynamics performance and riding quality by controlling the yaw angle of all the rubber wheelsets of the bogies. The simulation results show that under the effect of the path-following control scheme, the train can maintain good curve passing performance, dynamics performance and riding quality when passing through 15 m small curve radius and 50 m S-shaped curve section, respectively.