• 전기학회논문지
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• 제60권6호
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• pp.1229-1238
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• 2011

This paper deals with the lateral dynamic model of an all-wheel steered articulated vehicle to design a guidance controller. Nonlinear dynamic model of articulated vehicle is developed by complementing the model about the BRT system of California PATH in U. S. A. and the Phileas system of the APTS in Netherlands. Linear lateral dynamic model has been derived from the nonlinear dynamic model under some assumptions associated with the driving conditions. To design a guidance controller, we derive a transfer function that is steering angle as input and lateral acceleration as output from the linear lateral dynamic model by applying the parameter of vehicle that is developed by Korea Railroad Research Institute. To validate the dynamic model, nonlinear dynamic model has been compared with a vehicle model that has been programmed in ADAMS, and linear dynamic model has been compared with a nonlinear dynamic model under sime assumptions.

• 전기학회논문지
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• 제57권11호
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• pp.2074-2079
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• 2008

This paper presents a software toolbox with $Matlab^{(R)}$ developed for the various performance analysis of an automatic guidance system of the Bimodal Tram. The Bimodal Tram is a new kind of transportation vehicle which could be an all-wheel steered multiple-articulated vehicle. This vehicle has to be equipped with an automatic guidance, traction/braking, and docking system, In the stage of developing such a system, its validities and performances should be verified under various operation conditions. For the purpose of doing these things through simulation, this toolbox has been developed and demonstrated well by applying it to the KRRI model.

• 전기학회논문지
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• 제60권10호
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• pp.1915-1923
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• 2011

For automated guidance control of a magnetically guided-all wheel steered vehicle, it is necessary to have information about position and orientation of the vehicle, and deviations from the reference path in real time. The magnet reference system considered here consists of three magnetic sensors mounted on the vehicle and magnetic markers, which are non-equidistantly buried in the road. This paper presents an observer to estimate such position and orientation at the center of gravity of the vehicle. This algorithm is based on the simple kinematic model of vehicle and uses the data of wheel velocity, steering angle, and the discrete measurements of marker positions. Since this algorithm requires the exact values of initial states, we have also proposed an algorithm of determining the initial position and orientation from the 16 successive magnet pole data, which are given by the magnetic measurement system(MMS). The proposed algorithm is capable of continuing to estimate for the case that the magnetic sensor fail to measure up to three successive magnets. It is shown through experimental data that the proposed algorithm works well within permissible error range.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 추계학술대회 논문집
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• pp.1231-1236
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• 2008

Since the bi-modal tram is too long so that the traditional steering system controlled only the first axle increases its turning radius, it is not suitable to the domestic road environment. In addition, it become hard to make fine parking with the traditional steering system. To resolve the problem, the bi-modal tram requires an all wheel steering system (AWS) that the second axle is controlled by the first axle's degree and the velocity of vehicle, and the third axle is steered by the articulation angle's degree and the velocity of degree. This paper addresses the factors for the AWS ECU design, the strategies to solve the problems, the core technologies for the implementation, and also the outcomes and analysis of the performance evaluation of implemented system.

• 전기학회논문지
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• 제60권10호
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• pp.1924-1934
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• 2011

This paper is concerned with the robustness evaluations of the guidance controller for a bimodal tram which is being developed by the Korea Railroad Research Institute (KRRI). The bimodal tram is an all-wheel steered multiple-articulated vehicle as a new kind of transportation vehicle. This vehicle has to be equipped with an automatic guidance system. In [1], such a controller has been recently proposed. However, since the performance is affected by weight change of the vehicle due to number of the passenger, model parameter uncertainties depending on the state of friction and the elasticity of the tire, and a typhoon, the controller designed must be examined with these conditions. As expected, because the vehicle dynamics is highly nonlinear, for the sake of investigating the robustness of the controller we compose two simulation ways based on the vehicle models which are implemented by the ADAMS and the MATLAB/LabVIEW toolboxes. Different uncertainties and a typhoon disturbance have been considered for the simulation conditions. Simulation results are shown.