A study on the manoeuvrability analysis of the bi-modal tram using the all-wheel steering electronic control unit

Abstract

Since a bi-modal tram has an extended wheel base and an articulated chassis, an all-wheel steering system (AWS) is applied to it to satisfy the required steering performance. An AWS electronic control unit (ECU) controls the hydraulic actuator according to the vehicle driving environment, such as the driver steering angle, articulating angle, and vehicle velocity. In this paper, the test platform developed for the AWS ECU test in a hardware in the loop (HIL) 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 manoeuvrability is investigated using this test platform. The AWS system, including ECU hydraulic system and embedded software, can be verified by the hardware in the loop simulation (HILS) test results.

Keywords:

• articulated vehicle
• HILS
• ECU black box test
• electro hydraulic system
• rear-wheel steering control

Acknowledgements

This study has been done in part of research project ‘Bi-modal Tram Development Project’, which was directed by KRRI (Korea Railroad Research Institute), funded by Ministry of Land, Transport, and Maritime Affairs of Republic of Korea under contract no. T406B1010001.