This document presents a digital control system that uses PID control with pole placement technique to actively control the suspension of a railway vehicle. It develops a dynamic model of the railway vehicle using Newton-Euler equations of motion. It then formulates the vehicle dynamics as a state space model and analyzes the system responses of the railway vehicle suspension under PID control to ensure safety and ride comfort.

1. Active control of railway vehicle suspension using PID controller with
pole placement technique
DIGITAL CONTROL SYSTEM
ZAINAB ALI KARAM
University of Kufa
Faculty of Engineering
Department of Electronic and Communications Engineering

2. Introduction
As the worldwide use of railway vehicles is increasing rapidly, it has become even more essential
to ensure vehicle safety and better ride comfort.

3. Railway vehicle Dynamic model

4. Dynamic equation of motion of railway vehicle
The vehicle’s dynamic model is developed using the Newton-
Euler equation of force-moment balance given in Eq
Where 𝐹𝐼 is the sum of all forces
𝑑𝑝𝑖
𝑑𝑡
is the change in linear momentum
𝑀𝐼 is the sum of all moments
𝑑𝐿𝑖
𝑑𝑡
is the change in angular momentum

5. PID control of railway vehicle

6. State space formulation
Input and output of dynamic equation
where K654is the output gain matrix
The state space model for the railway vehicle is
presented:
The equations of motion represented
The state, input, and output equations of the railway vehicle
system in the form of state space

7. System responses

8. System responses

9. System responses

10. Thank you