독립 회전 차륜의 토크 제어를 이용한 저상 트램의 주행 성능 개선

초록

Recently, the interest on a TRAM to be high for convenience and environmental reason. The latest TRAM has a low floor structure to support convenience for the mobility handicapped. For this reason, generally the bogies with independently rotating wheels (IRWs) are adopted in this TRAM. However it has a tendency to lean on one side of rail. Wear, noise and derailment problems could be occurred by this tendency. This paper introduces two control methods to improve running performance of IRW and rigid wheelset. Three DOF numerical dynamic model of IRWs adding new DOF of velocity difference of left and right wheels on two DOF numerical model of conventional rigid wheelset is developed. Dynamic analysis are accomplished using Matlab/Simulink with this numerical model. The analytical model of IRW and Rigid wheelset using simulink was verified by comparing results using Vi-Rail. The dynamic difference of lateral force control and yaw torque contol methods of IRWs and rigid wheelset are reported.