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This paper proposes the use of independently rotating wheels with inverse tread conicity to get selfsteering ability without any complex bogie structure. The effectiveness of the vehicle with two singleaxle bogies that use two independently rotating wheel units with inverse tread conicity is proved by the 1/10 scale model experiment. The full vehicle model is made by means of multibody dynamics software SIMPACK TM . Both the experiment and simulation results show that the proposed inverse tread with independently rotating wheels have good performance. Running stability and curving ability of the proposed inverse tread for independently rotating wheels can be realised by using the semi-active yaw damper.

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Understanding of wheel/rail contact conditions is one of the most fundamental problems for railway vehicle dynamics. In this paper, the comparison of experiments with a full scale test track and an actual bogie, and numerical simulations which are based on the numerical procedure which the authors propose and which can be used for three-dimensional two-point contact analysis are conducted.

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