Active Control of Shimmy in Articulated Single-Axle Straddle-Type Monorail Train

The articulated single-axle straddle-type monorail train has many unique advantages, making it the preferred choice for medium-capacity urban rail transit. However, the issue of vehicle shimmy greatly restricts its promotion and application. In response to this issue, an active suspension control scheme is proposed, and the corresponding control algorithm is designed. Considering economic and feasible factors, a modification plan for the single-axle bogie without changing the original structure is proposed. A closed-loop feedback control strategy with lateral velocity and yaw rate as control objectives is designed, and a 114 degree-of-freedom dynamic model of a monorail train is established. Taking the skyhook damping control as the reference model, the SH-SMC (skyhook-sliding mode control) active control scheme is designed based on the sliding mode control theory. Considering practical applications, the control force distribution algorithm is further proposed. Through co-simulation of UM and Matlab, different control schemes are compared and analyzed. The results indicate that the SH-SMC active control scheme is more effective in suppressing the shimmy of single-axle monorail train, verifying the effectiveness of the SH-SMC active control scheme. It is of great significance for the further promotion and application of single-axle monorail trains in more cities.