Systems and Control: Assignment 1
Systems and Control: Assignment 1
The schematic representation of a DC motor driven railway bogie is shown in the figure. The wheels are
perfectly rigid and the track is perfectly flat, so there is no vertical excitation from the rail on the wheels
and the wheels have no vertical velocity. Note that this is not coach or car-body; the coach is mounted
on two such bogies with another set of secondary suspensions (air springs) placed in the V-grooves.
The following are the details of this system: ?? is a constant supply voltage from a battery pack, ???? is DC
motor characteristic constant and ???? is armature resistance, ???? and ???? are, respectively, the large
horizontal stiffness and damping of the primary suspension, ???? and ???? are, respectively, the soft vertical
stiffness and damping of the primary suspension, the mass and rotary inertia of each wheel are ???? and
????, respectively, the mass and rotary inertia of the bogie body are ???? and ????, respectively, the friction at
rail-wheel contact is nonlinear and is represented by a damping function ????, ??, ?? and ???? are the
geometric dimensions, as shown. The coordinate system to be used is shown in the figure.
DETAILED ASSIGNMENT
