• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.940-946
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• 2012

This paper proposes a method to predict maximum traction for unmanned robots on rough terrain in order to improve traversability. For a traction prediction, we use a friction-slip model based on modified Brixius model derived empirically in terramechanics which is a function of mobility number $B_n$ and slip ratio S. A friction-slip model includes characteristics of various rough terrains where robots are operated such as soil, sandy soil and grass-covered soil. Using a friction-slip model, we build a prediction model for terrain parameters on which we can know maximum static friction and optimal slip with respect to mobility number $B_n$. In this paper, Mobility number $B_n$ is estimated by modified Willoughby Sinkage model which is a function of sinkage z and slip ratio S. Therefore, if sinkage z and slip ratio are measured once by sensors such as a laser sensor and a velocity sensor, then mobility number $B_n$ is estimated and maximum traction is predicted through a prediction model for terrain parameters. Estimation results for maximum traction are shown on simulation using MATLAB. Prediction Performance for maximum traction of various terrains is evaluated as high accuracy by analyzing estimation errors.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.48 no.11
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• pp.646-654
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• 1999

This paper deals with PWM patterns for harmonic reduction in inverter fed traction motors and the gear changing techniques for the variable speed drive of traction motor. GTOs are used as switching device of inverter because traction motor is a large load. To derive PWM rattern which can minimize the harmonics with the limited switching frequency, the output current and torque characteristic of SPWM and SHE PWM was analyzed. GTO inverter used for traction motor drive includes harmonics in the output current and torque by the limitation of switching frequency. However, the hybrid PWM method that adopt SPWM in the range of low frequency and SHE PWM in upper frequency range can achieve less harmonic characteristics in GTO inverters. If the traction motor is driven in variable speed by the proposed PWM pattern, 7 times of gear changing is needed. At the instant of the mode change, magnetic flux and torque may be altered and the large current flow. To reduce such an undesirable transient behavior, it is also presented the technique for the gear changing of inverter fed traction motor drive operated with the hybrid PWM. The results are verified by simulations and experiments.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2006.11a
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• pp.336-338
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• 2006

Diagnostic tests are used to evaluate the insulation condition of stator windings in traction motor. These tests included ac current, tan delta and maximum partial discharge. The insulation condition of stator windings was assessed by three test items. The stator windings of traction motor were m good condition. After completing the diagnostic tests, the stator windings of traction motors were subjected to gradually increasing ac voltage, until the insulation punctured. No.5 stator windings failed near rated voltage of 18.9 kV. The breakdown voltage of No.1 stator windings was 13.0. The failure was located m a line-end coil at the exit from the core slot.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.1
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• pp.165-170
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• 2015

In this paper, The strength and driving characteristics of it were investigated according to developing the traction motor for 8200 electric locomotive series. For this purpose, Flux density strength was analyzed and then structural strength was investigated such as a stator frame, design of the rotor shaft bearing according to the design process. In addition, the traction motor operating point was analyzed according to slip frequency variation at a power source frequency. As the results of analysis on torque-speed characteristic curve, we was confirmed that traction motor was controlled as torque control prior to motor speed 1610[rpm], power control between 1610[rpm] and 2500[rpm] and breakdown torque control more than motor speed 2500[rpm].

• Proceedings of the KSR Conference
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• 2005.05a
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• pp.782-787
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• 2005

Magnitude of generated harmonic currents along with the operation of AC traction has nonlinear characteristics, and generated harmonic currents for high speed traction are more and more in high speed railroad(HSR) systems, especially. This paper presents probabilistic approximation method for the harmonic currents analysis about the operating speed of AC traction. To use probabilistic method for HSR system, probability density function(PDF) for collected operating speed based measure data is calculated. Mean and variance of harmonic currents of single traction are obtained based on the operating speed PDF and electrical traction model. The results of Monte Carlo Simulation(MCS) are in well accordance with the experimental and analytic methods. The harmonics of different number of trainloads are systematically investigated. It is assessed by the total demand distortion(TDD) for the HSR system.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.2006-2010
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• 2008

This paper deal with the improvement performance and test result of traction motor for Bimodal low floor vehicles that are CNG(Compressed Natural Gas) hybrid bus. The improvement performance concept of the traction motor is studied in terms of electrical characteristics and mechanical construction. Finally, this paper introduces the result of the traction motor test for low floor vehicles, and mentioned the detail design concept of traction motor.

• The Transactions of the Korean Institute of Power Electronics
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• v.13 no.4
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• pp.247-256
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• 2008

Regenerative energy generated by regenerative braking of DC traction can cause the system malfunction or damage to the rectifier, or malfunction of the power conversion device in power supply system by DC Line voltage rise in feeder line. Regenerative energy storage system using super capacitor is one of the ways to stabilize DC line voltage. In this paper, energy storage system of DC traction system using super-capacitor bank is implemented and using the field measurement data of the station N and the station S on the Line 2, the operation characteristics of line voltage caused by regenerative energy of electric trains are verified. Also, charge/discharge characteristics of super capacitor are verified as well. Thus, we can verify the operation characteristics of super-capacitor bank for regenerative energy storage system installed in DC Traction. And if we can use field measurement data of DC line voltage, we have obtained cost reduction. The stabilization of the system will be improved by measuring the operation characteristics of regenerative energy storage system in certain section operated by DC traction and predicting the capacity and lifetime of super-capacitor.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.11
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• pp.1955-1961
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• 2007

In this paper, we propose the mathematical model for the vehicle system including running characteristics. The well defined model for a system is necessary to study and to enhance system performance. To model the dynamic properties of vehicle system, we have considered two fundamental parts. The first part is the motion equations for vehicle based on Newton's second law. The second part is the torque dynamics of the traction motor. These parts are affected by outer conditions such as adhesive coefficient, running resistance and gradient resistance. The each parts are presented by the numerical formula. To test the driving characteristics of the developed model, we performed the simulations by dynamic system simulation software, "SIMULINK" and the results are given for several conditions.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.53 no.4
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• pp.224-228
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• 2004

The switched reluctance motor(SRM) drive system provides a good adjustable speed and torque characteristics. SRM has the possibility of maintaining full power over a wide speed range. So, many attempts are being done from home appliances to industrial machinery and tools. Especially, the traction drive of SRM is one of a good application due to it's torque characteristics. However, because of the switching mechanism, it has some disadvantage of noise and vibration. It is difficult to adopt to an appliance demanding silence. A noise simulations and test of 3-phase 6/4, 6/8 and 12/8 SRM were done in other to compare each other. The test results show that 12/8 SRM has good noise characteristics.

• Proceedings of the KSR Conference
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• 1998.11a
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• pp.137-143
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• 1998

Numerical simulation is conducted to clarify the heat transfer and fluid flow characteristics of traction motor for electric car SIMPLE algorithm based on finite volume method is used to make linear algebra equation. The governing equations are solved by TDMA(TriDiagonal Matrix Algorithm) with line-by-line method and block correction. From the results of simulation, the characteristics of cooling pattern is strongly affected by the size of hole in stator core. In the case of high rotational speed of rotor, temperature difference along the axial direction is more decreased than that of low rotational speed.