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Dynamics of a running gear with IRWs on curved tracks for a robust control development

Grether, Gustav (2017) Dynamics of a running gear with IRWs on curved tracks for a robust control development. In: Proceedings in Applied Mathematics and Mechanics, 17 (1), pp. 797-798. WILEY‐VCH Verlag GmbH & Co. KGaA. 88th GAMM Annual Meeting, 06.-10. Mrz. 2017, Weimar. DOI: 10.1002/pamm.201710366

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Official URL: https://doi.org/10.1002/pamm.201710366

Abstract

As a major task of the DLR‐internal project “Next Generation Train”, robust state feedback control with gain scheduling was sucessfully applied to guide the experimental running gear with independently rotating wheels (IRWs) at a 1:5 scaled roller rig, see [1]. However, the adaptation of the control structure to the 1:1 multibody model requires to additionally consider the properties of curved tracks. For that reason, an analytical model of a running gear with IRWs is deduced using Euler‐Lagrange‐equations and taking superelevation and track curvature into account. Furthermore, the complexity of the system is reduced to allow for a robust feedback control synthesis and feed‐forward control including model inversion. Finally, the model is discussed and a first approach for a feed‐forward control in transition curves is shown.

Item URL in elib:https://elib.dlr.de/119496/
Document Type:Conference or Workshop Item (Speech)
Title:Dynamics of a running gear with IRWs on curved tracks for a robust control development
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Grether, GustavGustav.Grether (at) dlr.deUNSPECIFIED
Date:2017
Journal or Publication Title:Proceedings in Applied Mathematics and Mechanics
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:17
DOI :10.1002/pamm.201710366
Page Range:pp. 797-798
Publisher:WILEY‐VCH Verlag GmbH & Co. KGaA
Status:Published
Keywords:independently rotating wheels, control
Event Title:88th GAMM Annual Meeting
Event Location:Weimar
Event Type:international Conference
Event Dates:06.-10. Mrz. 2017
Organizer:International Association of Applied Mathematics and Mechanics
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
Deposited By: Grether, Gustav
Deposited On:25 Jun 2018 16:36
Last Modified:25 Jun 2018 16:36

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