DOI QR코드

DOI QR Code

Torque Distribution Algorithm of Independent Drive Articulated Vehicle for Small Radius Turning Performance

독립 구동 굴절차량의 회전반경 감소를 위한 토크분배 알고리즘

  • Lee, Kibeom (The CCS Graduate School for Green Transportation, KAIST) ;
  • Hwang, Karam (The CCS Graduate School for Green Transportation, KAIST) ;
  • Tak, Junyoung (The CCS Graduate School for Green Transportation, KAIST) ;
  • Suh, In-Soo (The CCS Graduate School for Green Transportation, KAIST)
  • Received : 2014.06.27
  • Accepted : 2014.09.22
  • Published : 2014.10.31

Abstract

The articulated structures seen in train or tram applications are being applied in road transportation systems, for use in mass passenger transit. When articulated vehicles are driven on public roads, they no longer follow a guided track. Therefore, there are a lot of control elements that need to be considered, such as turning radius, swept path width, off-tracking, and swing-out. Some of the currently available articulated vehicles on roads are equipped with an independent drive system; a system that has one motor at each wheel. Through this drive system, each wheel can be independently controlled, making precise and quick dynamic stability control possible. In this paper, we propose a torque distribution algorithm that can reduce the overall turning radius of the articulated vehicle, which has been verified through dynamic simulation.

기차나 군용 트럭 등에 이용되던 굴절차량이 승객의 대량 수송을 위하여 일반 도로에 적용이 검토되고 있다. 레일을 따라가지 않고 일반 도로에서 주행하는 굴절차량은 회전반경, 차량 선회 폭, 이탈궤적, 스윙아웃등 다양한 제어 요소를 갖는다. 현재 승객 수송을 목적으로 제작되는 굴절차량은 각 바퀴에 하나의 모터를 장착하고 구동하는 독립 구동 방식을 채택하고 있으며, 각 바퀴의 독립 제어를 통하여 차량의 빠르고 정확한 자세제어가 가능하다. 이 논문에서는 여러 제어 요소 중 굴절차량의 최초 목적인 회전반경 감소를 위한 토크 분배 알고리즘을 제안하고, 시뮬레이션을 통하여 회전 반경이 감소함을 검증하였다.

Acknowledgement

Supported by : 국토교통부

References

  1. S. Leem, S. Choi (2010) The introduction of bimodal tram system, Daewoo Engineering Technology magazine, 26(1), pp. 54-69.
  2. Y. Kim, K. Yun, K. Min, Y. Byun, J. M (2007) A lateral dynamic model of an all wheel steering bimodal vehicle, International Conference on Control, Automation and Systems, Seoul, Korea, pp. 1734-1737.
  3. Y. byun, M, Kim, J. Mok, Y. Kim (2008) Longitudinal control of bimodal-tram using sliding mode control, International Conference on Control, Automation and Systems, Seoul, Korea, pp. 1439-1442.
  4. K. Moon, S. Lee, J. Mok, T. Park (2008) Development and verification of the steering algorithm for articulated vehicles, Journal of the Korean Society for Railway, 11(3), pp. 225-232.
  5. S. Murata (2012) Innovation by in-wheel-motor drive unit, Vehicle System Dynamics, 50(6), pp. 807-830. https://doi.org/10.1080/00423114.2012.666354
  6. K. Kim, K. Shin, Y. Kim, J. Cheon (2010) Integrated design of in-wheel motor system on rear wheels for small electric vehicle, World Electric Vehicle Journal, 4, pp. 597-602.
  7. K. Moon, S. Chang, J. Mok (2011) A Study on the swept path width for the bimodal tram, Proceedings Autumn of the Korean Society for Railway, Korea, pp. 51-56.
  8. M. Iida, H. Nakashima, H. Tomiyama, T. Oh, T. Nakamura (2011) Small-radius turning performance of an articulated vehicle by direct yaw moment control, Computers and Electronics in Agriculture, 76, pp. 277-283. https://doi.org/10.1016/j.compag.2011.02.006
  9. C. Altafini (2003) Path following with reduced off-tracking for multibody wheeled vehicles, IEEE Transactions on Control Systems Technology, 11(4), pp. 598-605. https://doi.org/10.1109/TCST.2003.813374
  10. S. Choi, T. Park, S. Lee, K. Moon (2009) A study on developing reverse parking assistant algorithm for bi-modal tram, Transactions of KSAE, 17(5), pp. 84-90.
  11. Y. Kim, K. Min, K. Yun, Y. Byun, J. Mok (2008) Steering control for lateral guidance of an all wheel steered vehicle, International Conference on Control, Automation and Systems, Seoul, Korea, pp. 24-28.

Cited by

  1. Multibody dynamic analysis of a duplicate bimodal tram vol.31, pp.2, 2017, https://doi.org/10.1007/s12206-017-0101-9