독립구동방식 철도차량의 주행성능 개선을 위한 능동제어전략 비교연구

초록

A comparative study of active control strategies to improve running performance by control lateral displacement with new dynamic equation which predicted the dynamic performance of railway vehicle with independently rotating wheels were accomplished. Control strategies which applied with lateral force control, yaw torque control, yaw moment control using left and right torque difference and yaw torque control with yaw angle are used to comparative study and control algorithms are PID, LQR, SMC, H∞. The wheel torque control is evaluated to best strategy to improve lateral displacement control. The PID control has good performance on normal track without disturbance, but robust control like SMC, H∞ have better performance on track with disturbance like track irregularities. The control performance of wheel torque control which verified to best control strategy evaluated on 1/5 small scale roller-rig.