강인제어기를 이용한 독립구동방식 철도차량의 주행성능개선

초록

The main method to accomplish 100% low floor is using independently rotating wheel type bogie. IRWs (independently rotating wheels) have very small longitudinal creepages. So there is no lateral centering force. For this reason it cannot make hunting motion and extinguish the unstable mode by self excitation. On the other hand IRWs type bogie run on one side of the rail because it does not have self centering force. If disturbance or excitation is applied the wear and the lateral forces grow worse for continuous flange contact running. So many researches and attempts were accomplished to improve the demerit of IRWs. This paper describes the robust control of the IRWs to improve the running performance with yaw torque. SMC (sliding mode control) is one of the varied state space model type non-linear robust controls. This control logic is very robust against model uncertainty and disturbances.