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This work presents investigates the feasibility of the ""directly steered wheels (DSW)"" under operating condition of tramcars. After analyzing the wheel/rail geometric contact between track and DSW, a mathematical model has been developed to describe the lateral dynamics. Based on this model, a robust guidance controller is designed according to the µ-synthesis. The results of simulations show that the DSW with the designed controller can improve the running performance of tramcars significantly.

aktive Spurführung --- active guidance --- directly steered wheels --- Straßenbahn&#956 --- -Synthesis --- µ-synthesis --- wheel/rail geometric contact --- Rad-Schiene-Kontaktkinematik --- aktiv gelenktes Radpaar --- tramcar