바이모달트램의 정밀정차시 속도제어

초록

In this paper, we propose the docking speed profile for speed controller of bimodal tram. The precision stop of vehicles is important at the bus stop for passengers. The Korea Rail road Research Institute (KRRI) is developing the bimodal tram. The bimodal tram is all wheel steered single articulated vehicle and will be equipped with the automated control systems. The key technology of the systems is longitudinal and lateral vehicle control algorithm. The longitudinal control is concerned with traction control and brake control of the vehicle and the lateral control is concerned with steering control. First, a longitudinal vehicle model is introduced for traction and brake. Then, a speed profile is designed with satisfying the specifications of a vehicle. The sliding mode controller is used for the speed control. The performance for precision stop is shown by simulation results.