μSynthesis Active Guidance Control of Tramcar with Independently Rotating Wheels

Abstract:

This paper presents a robust active guidance controller using robust μ synthesis method, to let the tramcar possess selfguidance and steering ability again which is lost by adopting independent rotating wheels(IRWs), and to deal with parametric uncertainties such as creep coefficients and wheelset conicity variations. A twoaxle tramcar model with IRWs was established, in which each wheel was associated with a hub motor. By controlling the torque of the motor connect with the left and right side wheels in the same axle, active guidance and steering was achieved. A validation of the control method was carried out by using Matlab, the simulation results show that the control algorithm can satisfy the robust stability and robust performance of the system, and let the tramcar obtain good selfguidance and steering performance at the same time.