The dynamic characteristic analysis of the bi-modal tram using the HIL(Hardware In the Loop) of AWS(All Wheel Steering) ECU

초록

Because the bi-modal tram has an extended wheel base and articulated chassis, an AWS (All-Wheel-Steering) system is applied to it to satisfy the required steering performance. AWS ECU (Electronic Control Unit) controls the hydraulic actuator according to the vehicle driving environment, such as driver steering angle, articulating angle, and vehicle velocity. In this paper, the test platform devloped for the AWS ECU test in an HIL (Hardware in the Loop) environment is explained. Using the developed test platform, the control algorithm of the AWS ECU can be evaluated under the virtual driving condition of the bi-modal tram. Also, vehicle maneuverability is investigated using this test platform. The AWS ECU can be verified by the HILS test results, and the AWS System, including the hardware and embedded software, will be modified.