Although a passive independently-rotating wheel-pair (IRW) is not well suited for curve negotiation due to an inability to provide the necessary steering, an active IRW system offers the potential to realise perfect curving with a satisfactory running stability. Simple control solutions to realise automatic steering and stability of the IRW system are proposed in this paper. In this control approach, only gyroscopes and tachometers are adopted for the measurements. Associated with a prototype of a two-axle IRW vehicle, the active control strategies for both motor-driven and actuator-driven solutions are illustrated. The simulation results demonstrate significant alleviations in the wheel/rail interactions with perfect-curving performances and superior running stabilities owing to the proposed control strategies.

尽管被动独立旋转轮对 (IRW) 由于无法提供必要的转向而不太适合弯道通过，但主动 IRW 系统提供了实现完美弯道和令人满意的行驶稳定性的潜力。本文提出了实现 IRW 系统自动转向和稳定性的简单控制解决方案。在这种控制方法中，仅采用陀螺仪和转速计进行测量。结合两轴 IRW 车辆的原型，说明了电机驱动和执行器驱动解决方案的主动控制策略。仿真结果表明，由于所提出的控制策略，轮轨相互作用显着减轻，具有完美的弯曲性能和卓越的运行稳定性。