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

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. (© 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)