Journal of the Korean Society for Railway (한국철도학회논문집)

The Korean Society for Railway (한국철도학회)
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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
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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.

Keywords

References

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