Abstract
Recently, Light Rail Transit attracts attention as urban traffic system of the next generation, because it is economical and clean. In order to realize barrier-free design, LRT often has independently rotating wheels. However bogie with I.R.W. is hard to keep running neutral position. To keep running neutral position, it is required active steering control method. In previous research, feedforward control and feedback control were proposed. Using feedforward control, the bogie cannot run neutral position on rail track which has irregularity. Using feedback control, the bogie becomes oscillating in straight section running under the big feedback gain. This paper proposes introduction of the learning control and experimental results with scaled model vehicle show the effectiveness of learning control.
