SPEED CONTROL FOR PRECISION STOP OF BIMODAL-TRAM

초록

In this paper, we propose a speed controller for precision stop 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 automatically driven with the automatic guidance 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, we propose the speed controller using the sliding mode control. Then, the speed and distance profiles are designed with satisfying the specifications of a vehicle. The control performance for precision stop is shown by simulation results.