Abstract
In connection with the introduction of new public transportation due to urbanization, research on low-depth urban railways has been actively conducted. When the independently driving type is applied to such a low-depth urban railway, the independent torque control of the left and right wheels can be performed independently, but the mechanical resilience is weak because there is no wheeling. In order to make up for this drawback, a control method through the lateral displacement restoring force is proposed. It is proposed to an algorithm that makes restoring force stronger by controlling each motor of left and right wheels individually. This algorithm is also verified through MATLAB / SIMULINK.
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