Verification of Control Algorithm for Improving the Lateral Restoration Performance of an Independently Rotating Wheel Type Railway Vehicle

Yonho Cho 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.7

An individual motor torque control technology to improve the lateral restoring performance of the independently rotating wheel type railway vehicle, which has been applied for reasons such as low floor structure of the vehicle and application of variable gauge technology, has been developed. A new bogie analysis model and a small-scale roller-rig test bench respectively were developed to verify the control technology. A new bogie analysis model has been developed to improve the accuracy of analysis of the lateral and yaw motion of the actual vehicle. The model was verified through the response of the disturbance and critical velocity analysis. The performances of proposed control logic were verified by accomplishing a small-scale roller-rig test and simulation with improved analytical model. Lateral displacement control performs the opposite phase control by the control torque applying in the opposite direction to the front and rear wheelset, while yaw control performs the same phase control by applying the control torque in the same direction. Afterwards the yaw moments of the wheelset are combined to create a yaw moment of bogie, reducing the yaw angle and lateral displacement together. It was verified through analysis and test that the lateral restoring control performance based on the yaw angle (same phase control) was superior to the based on lateral displacement (opposite phase control).

Development Status and Direction of Hydrogen Fuel Cell Tram

Yonho Cho(조연호),Wonsang Lee(이원상),Kyoungsoo Eom(엄경수),Gwangho Kang(강광호),Myounghan Kim(김명한) 한국신재생에너지학회 2019 한국신재생에너지학회 학술대회논문집 Vol.2019 No.11

경량전철의 승차감 개선을 위한 현가장치의 레이아웃 최적화

조연호(Yonho Cho),곽재호(Jaeho Kwak) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4

This paper presents an optimization of suspension layout of light rail vehicle to improve ride quality. In addition to the suspension spring constant, the suspension layout span between cars is an important parameter affecting the ride quality. For the optimization, a 9-DOF analytical model consisting of 3 car bodies and 3 bogies is developed. Then, a genetic algorithm is applied to find an optimized suspension layout span assuming that the vehicle is running on a tangent track with constant speed.

독립 회전 차륜의 토크 제어를 이용한 저상 트램의 주행 성능 개선

조연호(Yonho Cho),곽재호(Jaeho Kwak) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11

Recently, the interest on a TRAM to be high for convenience and environmental reason. The latest TRAM has a low floor structure to support convenience for the mobility handicapped. For this reason, generally the bogies with independently rotating wheels (IRWs) are adopted in this TRAM. However it has a tendency to lean on one side of rail. Wear, noise and derailment problems could be occurred by this tendency. This paper introduces two control methods to improve running performance of IRW and rigid wheelset. Three DOF numerical dynamic model of IRWs adding new DOF of velocity difference of left and right wheels on two DOF numerical model of conventional rigid wheelset is developed. Dynamic analysis are accomplished using Matlab/Simulink with this numerical model. The analytical model of IRW and Rigid wheelset using simulink was verified by comparing results using Vi-Rail. The dynamic difference of lateral force control and yaw torque contol methods of IRWs and rigid wheelset are reported.

능동형 커플러를 이용한 독립 구동 방식 저상형 노면전차의 주행 성능개선

조연호(Yonho Cho),이남진(Namjin Lee),강광호(Kwangho Kang),이원상(Wonsang Lee) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11

The recently developed trams adopt IRWs (Independently Rotating Wheels) for the low floor structure. IRWs were introduced to improve the hunting stability and curving performance on the sharp curve of the conventional bogie. Those configurations reducing the longitudinal creepages by allowing the two wheels on the same axle to rotate independently from each other. but, IRWs have several inherent problems including insufficient guiding and excessive wear. Generally, IRWs are known to be more stable and have small lateral force and less wear in addition to prominent steering performance in a small curve section than conventional wheelset, they do not have hunting motion arising from longitudinal creepages. To meet the both running performances in tangent track and curve section several proposals were developed. Those are soft coupling using magnetic couplers, clutch systems and asymmetric bogie configurations. In this paper, the noval control architecture to meet the performance of both sectioins.-Tangent line and sharp cuuve. The active coupler is adopted to IRWs bogie system. and this active coupler working by onoff control. This active contol systems is verified by simulation using Vi-rail and matlab co-simulation technique

칼만필터를 이용한 독립회전 방식 철도차량의 주행성능 개선 제어를 위한 상태추정

조연호(Yonho Cho) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.11

Independently rotating wheelsets that allow the freedom of rotation of the left and right wheels can be configured to remove the axles from the existing railway wheelset. Such a configuration is expected to improve the performance of the sharp curve along with the lowering of the vehicle floor. When the rotational constraints of the left and right wheels are weakened, the longitudinal creep force is reduced and consequently the transverse restoring force is reduced. Since the transverse restoring force is the cause of the hunting motion, it is expected that the stability will be high because self-vibration does not occur. However, In actual vehicles, a lot of disturbances are applied to the railway vehicle, including a track irregularity during running, so the independently rotating wheel type railway vehicle lacking lateral restoring force and has no resistance to disturbances. Therefore, a zigzag phenomenon may occur in which the flange is continuously in contact with each other or repeatedly impacts the left and right flanges. Various control methods are applied to improve the running performance of the independently rotating type wheels, but for the actual vehicle application accurate measurement of the running states such as the lateral displacement, the yaw angle, and curve radius to be controlled are required. Actually, these state variables are very difficult to measure and require expensive measuring equipment to measure indirectly, and an effective state estimation method is needed because the actual measured state values can contain noise too much. In this study, various methods for estimating the state were presented, and the results of the comparative study on the state estimation method using the Kalman filter which can be robustly estimated using the statistical approach and the conventional estimation method were described.

강인제어기를 이용한 독립구동방식 철도차량의 주행성능개선

조연호(Yonho Cho),이원상(Wonsang Lee),곽재호(Jaeho Kwak) 한국철도학회 2014 한국철도학회 학술발표대회논문집 Vol.2014 No.10

독립 구동방식은 전후 방향 크립력이 미소하여 횡 방향 복원력이 발생하지 않아 이로 인한 사행동이 없으므로 자려진동에 의한 불안정성이 제거된다는 장점이 있는 반면에 외력이 가해진 경우 한쪽으로 치우친 상태에서 복원이 되지 않아 플렌지 접촉현상이 더욱 빈번히 발생하게 되는 단점을 가지고 있다. 이러한 독립 구동방식 대차의 단점을 극복하기 위해 다양한 시도가 이루어 지고 있으며, 본 논문에서는 대차에 요모멘트를 발생시키거나 횡 방향 제어력을 작용하여 안내력을 발생시키는 제어를 통해 독립 구동 방식대차의 주행성능 개선에 대한 연구를 수행하였다. 특히 모델 불확실성이나 외란에 대한 강건성을 가지는 강인제어기를 적용함으로써 제어성능과 안정성을 확보하고자 하였다. The main method to accomplish 100% low floor is using independently rotating wheel type bogie. IRWs (independently rotating wheels) have very small longitudinal creepages. So there is no lateral centering force. For this reason it cannot make hunting motion and extinguish the unstable mode by selfexcitation. On the other hand IRWs type bogie run on one side of the rail because it does not have selfcentering force. If disturbance or excitation is applied the wear and the lateral forces grow worse for continuous flange contact running. So many researches and attempts were accomplished to improve the demerit of IRWs. This paper describes the robust control of the IRWs to improve the running performance with yaw torque. SMC (sliding mode control) is one of the varied state space model type non-linear robust controls. This control logic is very robust against model uncertainty and disturbances.

Optimal Design for Strength Improvement of Support Bracket for Sanding Device of Railway Vehicle Using Topology Optimization

조연호(Yonho Cho),윤우혁(Woohyuck Yoon) Korean Society for Precision Engineering 2020 한국정밀공학회지 Vol.37 No.4

ITC와 HSC가 적용된 급곡선 주행시스템 성능검증을 위한 동역학 해석

조연호(Yonho Cho),오형식(Hyeongsik Oh),강광호(Gwangho Kang),엄경수(Kyongsu Eom) 한국철도학회 2017 한국철도학회 학술발표대회논문집 Vol.2017 No.05

저심도 도시철도시스템을 위해 개발중인 급곡선 주행시스템은 15mR급곡선 구간 주행 시 횡압을 30%이상 저감하기 위한 개별모터토크제어(ITC: Individual Torque Control) 기술과 유압식 조향실린더 제어(HSC: Hydraulic Steering-cylinder Control) 기술을 적용하고 있다. 본 논문은 ITC와 HSC가 적용된 급곡선 주행시스템의 성능검증을 위해 Simpack을 이용한 동역학 해석을 수행하였으며, Simpack에 내장된 PID제어 함수를 이용하여 횡변위와 요 각 제어 수행한 결과를 비교하여 분석하였다. 실제 시험차량을 통한 성능시험을 준비 중에 있으며 시험결과와의 비교를 통해 동역학 해석모델의 정확성을 검증할 예정이다. The sharp curve running system which develop for NST(Near Surface Transit) to reduce the lateral force more than 30% during run on the 15mR sharp curve section adopt the ITC(Individual Torque Control) and HSC(Hydraulic Steering-cylinder Control) technology. This paper describe the dynamic analysis results by Simpack software to evaluate the performance of sharp curve running bogie with ITC ad HSC and comparative study results with lateral displacement control and yaw angle control by internal PID control function of Simpack. The running test with real train is prepared. The accuracy of dynamic analysis results is to verify by compare with the running test results.

급제동 시 발생하는 연결기의 충격력 해석 모델링

조연호(Yonho Cho),곽재호(Jaeho Kwak),권태수(Taesoo Kwon) 한국자동차공학회 2007 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-

A simple impact analysis model for the rolling stocks is proposed using Simulink. In this model, each vehicle is represented by a 1D model. Main object of this model is define factors which make damage to coupler on special operation condition like emergency breaking. After simulation this model calculate impact force on coupler, and we can figure out damage or fracture of coupler by comparing to standard allowance criteria. The validation of this analysis model was proven by comparing the investigate report on real accident of train.