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Observer design for a railway running gear with independently rotating wheels

Keck, Alexander and Schwarz, Christoph and Meurer, Thomas (2019) Observer design for a railway running gear with independently rotating wheels. In: IFAC Proceedings Volumes (IFAC-PapersOnline), pp. 850-855. Joint 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems, 04.-06. Sep. 2019, Wien, Österreich.

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Abstract

The German Aerospace Center (DLR) bundles its railway research in the long-term project "Next Generation Train" (NGT). The NGT is a high speed train concept in light-weight design and double-deck configuration. To reduce wheel and rail wear and to enhance the passenger capacity, a mechatronic running gear with independently rotating wheels (IRW) is designed. This configuration requires an advanced control of the lateral dynamics in order to fully exploit the potential in minimizing wear and noise. In terms of a model-based control design, the controller performance highly depends on the estimated lateral position of the running gear relative to the track. In a practical environment it is difficult to directly measure this displacement of the wheel-pair. Therefore this article deals with the question which sensor configuration enables an appropriate estimation of the lateral displacement and is suitable for observer design. Hence, an observability analysis and an observer synthesis to estimate the lateral position for the nonlinear system of the 1:5 scaled hardware running gear is carried out. For validation purposes three estimators are implemented at the real-time environment of the testbed and the estimation errors of the observer configurations are compared.

Item URL in elib:https://elib.dlr.de/127878/
Document Type:Conference or Workshop Item (Speech)
Title:Observer design for a railway running gear with independently rotating wheels
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Keck, Alexanderalexander.aeck (at) dlr.dehttps://orcid.org/0000-0002-2956-8340
Schwarz, ChristophChristoph.Schwarz (at) dlr.dehttps://orcid.org/0000-0003-4882-0828
Meurer, Thomastm (at) tf.uni-kiel.dehttps://orcid.org/0000-0002-9175-2157
Date:2019
Journal or Publication Title:IFAC Proceedings Volumes (IFAC-PapersOnline)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Page Range:pp. 850-855
Status:Published
Keywords:Nonlinearity, Observability, Observers, Extended Kalman filters, Railways
Event Title:Joint 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems
Event Location:Wien, Österreich
Event Type:international Conference
Event Dates:04.-06. Sep. 2019
Organizer:IFAC
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Rail Transport
DLR - Research area:Transport
DLR - Program:V SC Schienenverkehr
DLR - Research theme (Project):V - NGT BIT
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Keck, M.Eng. Alexander
Deposited On:14 Jun 2019 14:44
Last Modified:16 Dec 2019 15:58

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