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

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.