A METHOD, APPARATUS, COMPUTER PROGRAM AND SYSTEM FOR CONTROLLING A WHEEL OF A RAIL MOUNTED AXLE

A method 200, apparatus 300, computer program 304 and system for controlling a wheel 101 of a rail mounted vehicle 102, the method comprising: causing, at least in part, actions that result in determining 201 at least one value of an angular velocity ω1R, about a first axis 103, of a first wheel 101 of a wheelset 104 of a rail mounted vehicle 102, wherein the wheelset 104 comprises the first wheel 101 and a second wheel 105, and wherein the first wheel 101 is rotatable and motored independently of the second wheel 105; determining 202 at least one value of a yawing velocity ψ̇1 of the wheelset 104 about a second axis 106 perpendicular to the first axis 103 and to a longitudinal axis 114 of the rail mounted vehicle 102; calculating 203 at least one value of a modified angular velocity 1R of the first wheel 101 based, at least in part, on: the at least one value of the angular velocity ω1R of the first wheel 101, and the at least one value of the yawing velocity ψ̇1 of the wheelset 104; controlling 204 an application of torque to the first wheel 101 based, at least in part, on the at least one value of the modified angular velocity 1R of the first wheel 101.