An individual motor torque control technology to improve the lateral restoring performance of the independently rotating wheel type railway vehicle, which has been applied for reasons such as low floor structure of the vehicle and application of variable gauge technology, has been developed. A new bogie analysis model and a small-scale roller-rig test bench respectively were developed to verify the control technology. A new bogie analysis model has been developed to improve the accuracy of analysis of the lateral and yaw motion of the actual vehicle. The model was verified through the response of the disturbance and critical velocity analysis. The performances of proposed control logic were verified by accomplishing a small-scale roller-rig test and simulation with improved analytical model. Lateral displacement control performs the opposite phase control by the control torque applying in the opposite direction to the front and rear wheelset, while yaw control performs the same phase control by applying the control torque in the same direction. Afterwards the yaw moments of the wheelset are combined to create a yaw moment of bogie, reducing the yaw angle and lateral displacement together. It was verified through analysis and test that the lateral restoring control performance based on the yaw angle (same phase control) was superior to the based on lateral displacement (opposite phase control).

已经开发了用于提高独立旋转轮式铁路车辆的横向恢复性能的单独电动机转矩控制技术，该技术已被应用，例如由于车辆的地板结构低以及可变规格技术的应用。为了验证控制技术，分别开发了新的转向架分析模型和小型轮滑试验台。已经开发了新的转向架分析模型，以提高对实际车辆的横向和偏航运动的分析准确性。通过扰动响应和临界速度分析验证了该模型。通过完成小型滚柱试验和改进分析模型的仿真，验证了所提出的控制逻辑的性能。横向位移控制通过在前后方向盘上施加相反方向的控制转矩来执行相反相位控制，而偏航控制通过在相同方向上施加控制转矩来执行相同相位控制。之后，将轮对的偏航力矩组合在一起，以形成转向架的偏航力矩，从而共同减小偏航角和横向位移。通过分析和测试证明，基于偏航角（相同相位控制）的横向恢复控制性能要优于基于横向位移（相反相位控制）的横向恢复控制性能。之后，将轮对的偏航力矩组合在一起，以形成转向架的偏航力矩，从而共同减小偏航角和横向位移。通过分析和测试证实，基于偏航角（相同相位控制）的横向恢复控制性能要优于基于横向位移（相反相位控制）的横向恢复控制性能。之后，将轮对的偏航力矩组合在一起，以形成转向架的偏航力矩，从而共同减小偏航角和横向位移。通过分析和测试证实，基于偏航角（相同相位控制）的横向恢复控制性能要优于基于横向位移（相反相位控制）的横向恢复控制性能。