Performance Evaluation of AWS(All Wheel Steering) Algorithm for The Bimodal Tram

초록

The diverse demands on the public transportation are increasing such as the punctuality like a train and the flexibility like a bus. In order to satisfy such requirements, the bimodal tram as a new public transportation system was developed, which can run on either dedicated road or conventional road. The bimodal tram with a pivoting joint has difficulty in making a sharp turn because of their long body and wheel base. Therefore, the turning radius of the bimodal tram is effectively reduced with AWS(all wheel steering) since all wheels are steered. Various rear wheel control methods for AWS have been developed, but most of them are applied only to four wheel steering cars. Thus, the new control method is necessary to be developed for the bimodal tram. In the present study, the new algorithm for bimodal tram was proposed. The proposed algorithm contains the equation to control the rear wheels of the bimodal tram and the method to set up virtual rigid axle geometrically. In order to verify the proposed AWS algorithm, commercial software ADAMS and the HILS(hardware in the loop simulation) system were used to validate the dynamic model and algorithm.