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CAN통신을 이용한 Bimodal-tram Simulator
변윤섭(Yeun-Sub Byun),김영철(Young-Chol Kim),윤경한(Kyoung-Han Yun),목재균(Jei-kyun Mok) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.10
In this paper we present the bimodal-tram simulator using CAN communication. The Bimodal tram is developed in KRRI (Korea Railroad Research Institute). The Bimodal tram has the advantages of both bus and train. The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the vehicle lanes will be marked with permanent magnets that are buried in the road. The control algorithm developed for navigation control has to be tested before being applied in the vehicle. In this purpose, we design the simulator for controller test of the bimodal-tram.
邊允燮(Yeun-Sub Byun),金永喆(Young-Chol Kim) 대한전기학회 2007 전기학회논문지 Vol.56 No.11
In this paper, we propose the mathematical model for the vehicle system including running characteristics. The well defined model for a system is necessary to study and to enhance system performance. To model the dynamic properties of vehicle system, we have considered two fundamental parts. The first part is the motion equations for vehicle based on Newton's second law. The second part is the torque dynamics of the traction motor. These parts are affected by outer conditions such as adhesive coefficient, running resistance and gradient resistance. The each parts are presented by the numerical formula. To test the driving characteristics of the developed model, we performed the simulations by dynamic system simulation software, "SIMULINK" and the results are given for several conditions.
변윤섭(Yeun-Sub Byun),이강원(Kang-Won Lee),목재균(Jei-kyun Mok),김영철(Young-Chol Kim) 대한전기학회 2010 정보 및 제어 심포지엄 논문집 Vol.2010 No.10
Bimodal tram is developed by KRRI (Korea Railroad Research Institute). This vehicle will be used for public transportation system. The Bimodal tram has the advantages of both bus and train. Bus system has the advantages of flexibility of the routes delivering passengers to the destination and easy accessibility. The vehicle has a navigation control system (NCS) for automatic driving. NCS has a reference path which is designed by specific S/W tool. The vehicle has to follow this reference path in automatic mode. NCS uses magnet markers to calculate the vehicle position. The vehicle lane is marked with permanent magnets that are buried in the road. The control performance for navigation controller has to be verified before being applied in public transportation system. In this purpose, we have tested the Bimodal tram and NCS on path tracking and precision docking performance.
PXI embedded real-time controller를 이용한 Bimodal-tram Simulator
변윤섭(Yeun-Sub Byun),김영철(Young-Chol Kim) 대한전기학회 2010 전기학회논문지 Vol.59 No.3
In this paper we present the Bimodal-tram simulator using the PXI embedded real-time controllers. The Bimodal-tram is developed in KRRI (Korea Railroad Research Institute). The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the vehicle lanes will be marked with permanent magnets that are placed in the ground. The vehicle is controlled by NCS. NCS governs the manual mode and automatic mode driving. The simulator is designed by an identical conception with the real control condition. The dynamic motion of vehicle is simulated by the nonlinear dynamic model. The control computer calculates the control values. The signal interface is linked by CAN communication. The simulation is processed by real-time base. The test driver can see the graphic motion of vehicle and can operate the steering wheel, gas and brake pedal to control direction and velocity of vehicle during the simulation. At present, the simulator is only operated by manual mode. The automatic mode will be linked after the control algorithm is finished. We will use the simulator to develop the control algorithm in the automatic mode. This paper shows the simulator designed for Bimodal-tram using real-time based controller. The results of the test using the simulator are presented and discussed.
변윤섭(Yeun-Sub Byun),김영철(Young-Chol Kim),목재균(Jei-kyun Mok) 대한전기학회 2011 전기학회논문지 Vol.60 No.10
In this paper, we propose vehicle running characteristic simulator. The developed simulator is configured by two induction motors which are directly coupled with each other. One motor is to simulate the vehicle drive and another motor is to simulate the vehicle dynamic load including running resistance, gradient resistance and adhesive characteristics between rail and wheel. The running characteristics of vehicle are modeled by numerical formulas. These are programed by software of embedded controller. Thus, it is possible to change several running characteristics during the running test freely and instantly. To evaluate the feasibility of the simulator, the experiments on slip and adhesion coefficient are performed. Additionally the adhesion control and speed control of vehicle are tested with simulator. Experimental results show that the simulator can produce the driving characteristics similar to the vehicle system.