Improving curving performance of a straddle type monorail vehicle by using semi-active devices

Abstract

This paper is concerned with improving the curving performance of the monorail vehicles which are one of the modern mass transport systems, by using semi-active magnetorheological (MR) dampers. Controlling the curving dynamic of the monorail vehicles with semi-active devices is a new research area. The considered monorail vehicle has one segment supported by two bogies. As a secondary suspension, lateral and vertical MR dampers are taken into consideration in addition to air suspensions. Control performances of the robust H∞ and adaptive control are investigated and compared with passive case along a designed road profile. Parametric uncertainties in running tyres and vehicle mass are taking into consideration in the control simulations. Simulation results show that the designed controllers improved the roll, yaw and vertical motions of the monorail vehicle when compared to uncontrolled and passive cases. These improvements provide better comfort and safer condition as well as small turning radius can be achieved by monorail vehicles equipped with the semi-active suspension system.