Study on the integration of attitude control and vibration control of the superspeed railway vehicle

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This study aims to analyze fundamental dynamical characteristics of a tilting railway vehicle using variable link mechanism for compensating both lateral acceleration that passengers feel and wheel load unbalance between inner and outer rails.In the first part, geometric relations between the center of rotation and the center of gravity and positions of four-links were analyzed. Then equation of the pendulum motion of railway vehicle body with four-link mechanism was derived for analyzing dynamic stability and natural frequency of the pendulum motion that depends on the link parameters as well as vehicle body parameters. Using these equations, lateral acceleration acting on the vehicle floor and unbalanced wheel load between inner and outer rails were theoretically studied and the natural frequency of the pendulum motion was theoretically obtained. These geometric and dynamic models of the tilting railway vehicle using link mechanism were verified by experiment results.In the second part, theoretical analysis is conducted to find "perfect tilting condition", that is, a geometric parameter set of link mechanism that can provide both zero lateral acceleration and zero wheel load unbalance simultaneously. This perfect tilting condition can be obtaine by changing the variable length of linl mechanism.Finally, to realize the perfect tilting condition on curved section, feed-forward and feedback compensations for the variable link mechanism are applied to this tilting vehicle body system. The experimental set-up that is excited by hydraulic actuators is used to simulate the dynamic characteristics of the tilting vehicle body on the curved track. Computer simulation is carried out to verify the effectiveness of this system by comparing with the experimental results.