@article{oai:niigata-u.repo.nii.ac.jp:00003765,
 author = {小幡, 亮 and 谷藤, 克也 and 相馬, 仁 and 増田, 敏幸},
 issue = {716},
 journal = {日本機械学会論文集. C編, 日本機械学会論文集. C編},
 month = {Apr},
 note = {Trucks with independently rotating wheels (IRW) are expected for the use in gauge changeable trains and light rail vehicles. The truck with IRW lacks for self-guidance ability, and then it needs some additional mechanism for running along the track. One of them is active steering mechanism using traction torque difference between two driving wheels on a non-rotational axle. This paper deals with a simulation study that examines a potential of the curving performance of a vehicle with IRW by means of torque difference control between left and right IRWs. The proposed control law, which is composed of a guidance control for tangent track and a steering control for curved one, has a potential to reduce the lateral force of IRW over the wide range of curve radius, especially in sharp curves. In the steering control, the front and rear axles in a truck are steered in the same direction.},
 pages = {1064--1070},
 title = {独立回転車輪のトルク差制御による鉄道車両の曲線通過},
 volume = {72},
 year = {2006}
}