A mechatronic rail vehicle with reduced tare weight, two axles and only one level of suspension is proposed with the objective of reducing investment and maintenance costs. A wheelset to carbody connection frame in composite material will be used both as structural and as suspension element. Active control is introduced to steer the wheelsets and improve the curving performance. A feedforward control approach for active curve steering based on non-compensated lateral acceleration and curvature is proposed to overcome stability issues of a feedback approach. The feedforward approach is synthesised starting from the best achievable results of selected feedback approaches in terms of wheel energy dissipation and required actuation force. A set of 357 running cases (embracing 7 curves, 17 speeds per curve and 3 conicities) is used to design the controller. The controller is shown to perform well for conicity and track geometry variations and under the presence of track irregularities.

为了减少投资和维护成本，提出了一种减少自重、两个轴和只有一层悬架的机电一体化轨道车辆。复合材料的轮对到车身连接框架将用作结构元件和悬架元件。引入主动控制来控制轮对并提高弯道性能。为了克服反馈方法的稳定性问题，提出了一种基于无补偿横向加速度和曲率的主动曲线转向前馈控制方法。前馈方法是从车轮能量耗散和所需驱动力方面选择的反馈方法的最佳可实现结果开始综合的。一组 357 个跑步案例（包含 7 条曲线，每条曲线 17 个速度和 3 个锥度）用于设计控制器。控制器显示出在锥度和轨道几何变化以及存在轨道不规则性的情况下表现良好。