ACTIVE CONTROL OF THE MECHATRONIC VEHICLE

概要

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This paper proposes a new railway vehicle which realizes both good curving performance and high speed running stability using the active steering control. Unlike another vehicle implementing actuators on conventional one with simple control law, this vehicle system consists of two parts, intelligent controller having adaptive property and controlled object, which is possible to design. In our research, authors name the vehicle with optimized structure for active steering control as the "Mechatronic Vehicle". As a first step to develop such design procedure, authors consider an active steering control law, which makes possible ideal curving behavior of wheels on the basis of inverse dynamics while minimizing actuator input. A learning control algorithm, which enable the vehicle to be adapting to the track by making use of the repetitive running, is proposed. The effectiveness of proposed control method is also confirmed in the numerical simulation.
社団法人日本機械学会の論文