USE OF INVERSE DYNAMICS IN THE DEVELOPMENT OF TILT CONTROL STRATEGIESFOR RAIL VEHICLES

This paper presents a technique for the development of control strateg ies for tilting trains. If control laws when tilting the vehicle are n ot closely adapted to the geometrical characteristics of the track lay out, a loss of ride quality will appear, creating travel sickness and tiredness in the passengers. The shape of the command signal and the t ime that the actuation must be anticipated to the curve entrance are e ssential factors in the vehicle transient response. This paper shows h ow the Inverse Dynamics method can be used to define a control strateg y to overcome the previously mentioned problems. A vehicle model is us ed which represents a two-bogie tilting passenger car equipped with an active hydraulic system for body tilting. By means of Inverse Dynamic s, the command signals for the actuators and the anticipation time hav e been calculated. Experimental work, which has also been carried out with a conventional two-bogie passenger car equipped with an hydraulic tilting system, is also presented.