独立車輪台車のトルク差制御による曲線通過(車両の運動と制御(1),OS2 交通・物流機械のダイナミクス(振動,制御を含む))

概要

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From the viewpoint of the barrier-free policy, it is expected that the number of LRV with lowered-floor will increase furthermore. Trucks with independently rotating wheels (IRW) are employed in the LRV with lowered-floor. However, the truck with IRWs lacks for self-guidance ability, and then it needs some additional mechanism for running along the track. One of them is active steering mechanism using traction torque difference between two driving wheels on a non-rotational axle. This paper deals with a simulation study that examines a potential of the curving performance of a truck with IRWs by means of torque difference control of direct drive motors. The proposed steering control method, that is the same directional control of front and rear axles in a truck, has a potential to reduce the wheel lateral force of IRW over the wide range of curve radius, especially in sharp curves. Here, the control tends to steer the whole truck.
2004-11-30