Rail Vehicle Vibrations Control Using Parameters Adaptive PID Controller

Table 7

Mass parameters	Stiffness parameters	Damping parameters
𝑀𝑐=8400 kg	𝑘11=12200000 N/m	𝑐11=4000 Ns/m
𝑀𝑏 = 653,75 kg	𝑘12=12200000 N/m	𝑐12=4000 Ns/m
𝐽𝑏=1121 kgm^2	𝑘2=320000 N/m	𝑐2=20000 Ns/m
𝑀𝑤1 = 453,25 kg	𝑘ℎ1=1015549000 N/m
𝑀𝑤2 = 453,25 kg	𝑘ℎ2=1015549000 N/m
Other parameters	PID controller parameters	Adaptive PID parameters
𝐿𝑎 = 0,9 m	𝐾𝑝 = 6,27 · 10^5	𝐺𝑝=0.55
𝐹=69825 N	𝐾𝑖=100	𝐺𝑑=52.8
𝐶ℎ=1⋅10^11  N/m^3/2	𝐾𝑑=120