A Study on the Control Method of Lateral Displacement and Yaw Angle in Curved Driving of IRWs System

This paper proposes an optimal control algorithm through lateral displacement and yaw angle in curved road of shallow-depth subway systems. In the case of the surface transportation, which has recently been introduced, curved driving performance is required for the downtown. The existing research works are the main research theme of the lateral displacement restoration control, but there is a limit to smooth operation when the curve is run only by receiving the lateral information. However, when the yaw angle displacement information is obtained, it is possible to consider the turning angle of the vehicle while the vehicle is driving in a curved road. However, it is difficult to control because the change of yaw angle is more sensitive than lateral drift. Therefore, this paper suggests an algorithm that uses yaw angle displacement control. The validity and usefulness of the proposed control algorithm is verified by experimental results using a small-scale bogie system.