Research on Control Strategy of Differential Active Steering Control of Independent Rotating Wheels

doi:10.3901/JME.260056

Abstract

Abstract: The automatic reset ability of independent rotating wheels(IRWs) is inferior to that of traditional rigid wheelsets. The scheme to control the speed difference between the wheels on both sides by installing an electromagnetic differential coupler as an actuator for the active guidance control of the IRWs is proposed to improve its reset ability. The feasibility of independent wheel differential active guidance control is elucidated. Based on the double power approach law of the first-order smooth saturation function, the differential active steering control(DASC) is designed to control the speed difference between the wheels on both sides of IRWs. The validity of DASC is verified by Lyapunov theory and numerical simulation. The numerical simulation method is used to research the layout scheme of DASC and the adaptability scheme with the primary suspension stiffness of IRWs vehicle. The results demonstrated that better curve negotiation performance can be obtained when the guide wheelset is equipped with differential active steering control and the non-guide wheelset is kept as an independent wheelset. The wheel yaw angle is reduced by 11.8%, The lateral force on the axle is reduced by 23.5%, the derailment coefficient is reduced by 34.9%, the wheel load reduction rate is decreased by 25.8%, and the wear number is reduced by 4.7%. The influence of suspension stiffness on the nonlinear critical speed and curve negotiation performance of independent wheelset vehicles for active guidance control has been obtained.

Key words: independent rotating wheels, active guidance control, electromagnetic differential coupler, sliding mode control, double power reaching law, steering performance

CLC Number:

U284

LI Taotao, LING Liang, LIU Jianxin. Research on Control Strategy of Differential Active Steering Control of Independent Rotating Wheels[J]. Journal of Mechanical Engineering, 2026, 62(2): 301-312.

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