The paper presents the first classical internal model control (IMC) design in the context of railway carbody roll control. We propose a simple control approach for a recent hydraulically actuated vehicle body roll concept that offers limited carbody roll. The IMC approach addresses both preview- and nulling-type tilt setups, highlighting related benefits and limitations. The design provides a model simplification process that facilitates PI and PID-type control structures without the need for complex optimization. A simple, yet practical, tool for the industrial rail rolling stock engineer in vehicle control design is offered. Vehicle roll performance is rigorously studied on the deterministic (curving acceleration response) and stochastic (ride quality) trade off. Simulations are performed on an in-house multibody dynamics software package employing a realistic nonlinear railway vehicle model and allow to appropriately assess the performance of preview and nulling type tilt performance. The results obtained confirm that preview tilt control offers the better tilt performance as it utilizes a tilt command reference, and highlighted that nulling-type tilt performance remains at a relatively comparable level with the former.

本文介绍了铁路车体侧倾控制背景下的第一个经典内部模型控制 (IMC) 设计。我们为最近提供有限车身侧倾的液压驱动车身侧倾概念提出了一种简单的控制方法。IMC 方法解决了预览型和归零型倾斜设置，突出了相关的优点和限制。该设计提供了一个模型简化过程，可促进 PI 和 PID 类型的控制结构，而无需进行复杂的优化。为工业铁路机车车辆工程师在车辆控制设计中提供了一个简单而实用的工具。车辆侧倾性能在确定性（弯曲加速度响应）和随机性（行驶质量）权衡方面进行了严格研究。模拟是在内部多体动力学软件包上执行的，该软件包采用现实的非线性铁路车辆模型，并允许适当地评估预览和归零类型倾斜性能的性能。获得的结果证实，预览倾斜控制提供了更好的倾斜性能，因为它利用了倾斜命令参考，并强调了归零型倾斜性能与前者保持相对可比的水平。