Two active sterring systems and an active guidance system for a vehicle with two wheel-pairs are described and analysed. A wheel-pair has independently rotating wheels pin-jointed to a carrying frame. The wheels are mounted on stub-axles and have hub-mounted traction motors. Differential torques are applied to the wheels to generate a steering input. The equations defining the systems are presented. The two active steering systems use either the body yaw velocity and train speed or knowledge of the route data and position to steer the wheels to be radial on a curve. The active guidance system uses a lateral displacement transducer to measure the lateral position of the wheels in the track to generate an error signal. All the controllers perform well on the steady curve. On the "virtual" transition into the curve, the active guidance controller performs much better than the steering controllers, benefitting from preview of the track.
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