Dynamic performance of automated guideway transit vehicles with dual-axle steering

The lateral dynamic performance of automatically guided dual and single steered axle vehicles is determined using a three-degree-of-freedom nonlinear model. Vehicle acceleration levels and tracking errors are determined for performance during curve entry, station entry, and on straight but randomly irregular guideway references. Independent dual-axle controllers, yaw dual-axle controllers, and zero-sideslip dual-axle controllers are studied in detail. Configurations for dual-axle controllers are developed, which have reduced tracking errors and either comparable or reduced acceleration levels in comparison to single-steered axle vehicles for curve and station entry maneuvers.