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Control Development for the Scaled Experimental Railway Running Gear of DLR

Heckmann, Andreas and Schwarz, Christoph and Bünte, Tilman and Keck, Alexander and Brembeck, Jonathan (2016) Control Development for the Scaled Experimental Railway Running Gear of DLR. In: Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics (IAVSD 2015), 1. CRC Press 2016. 24th Symposium of the International Association for Vehicle System Dynamics, 17-21 August 2015, Graz, Austria. DOI: 10.1201/b21185-1 ISBN 978-1-4987-7702-5

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Official URL: http://www.crcnetbase.com/doi/10.1201/b21185-1

Abstract

Running gears with independently rotating wheels are a major issue of the DLR longterm research project ”Next Generation Train”. This concept relies on mechatronic track guidance and on an appropriate control design. To this aim, a development environment has been implemented that consists of a scaled experimental running gear in hardware and associated simulation models that consider several levels of details, each tailored for a specific step of the control elaboration. The model based control synthesis covers a feed-forward control exploiting the inversion of a non-linear plant model, a Kalman filter that is implemented taking measurement noise into account, and robust state feedback control using gain scheduling in order to stabilize the running gear dynamics. The paper introduces the experimental running gear hardware, reports on the used models, comments on control synthesis steps and finally presents simulation results in order to demonstrate the properties of the designed control.

Item URL in elib:https://elib.dlr.de/104502/
Document Type:Conference or Workshop Item (Speech)
Title:Control Development for the Scaled Experimental Railway Running Gear of DLR
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Heckmann, AndreasAndreas.Heckmann (at) dlr.deUNSPECIFIED
Schwarz, ChristophChristoph.Schwarz (at) dlr.deUNSPECIFIED
Bünte, TilmanTilman.Buente (at) dlr.dehttps://orcid.org/0000-0002-7214-5183
Keck, AlexanderAlexander.Keck (at) dlr.deUNSPECIFIED
Brembeck, Jonathanjonathan.brembeck (at) dlr.deUNSPECIFIED
Date:2016
Journal or Publication Title:Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics (IAVSD 2015)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:1
DOI :10.1201/b21185-1
Editors:
EditorsEmail
Rosenberger, MartinUNSPECIFIED
Plöchl, ManfredUNSPECIFIED
Six, KlausUNSPECIFIED
Edelmann, JohannesUNSPECIFIED
Publisher:CRC Press 2016
Series Name:The Dynamics of Vehicles on Roads and Tracks
ISBN:978-1-4987-7702-5
Status:Published
Keywords:independently rotating wheels, railway running gear, track guidance control
Event Title:24th Symposium of the International Association for Vehicle System Dynamics
Event Location:Graz, Austria
Event Type:international Conference
Event Dates:17-21 August 2015
Organizer:IAVSD
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Next Generation Train III (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Heckmann, Dr.-Ing. Andreas
Deposited On:31 May 2016 18:27
Last Modified:17 Jul 2019 18:16

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