The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지
DOI QR코드

DOI QR Code

Bimodal-tram Simulator using PXI Embedded Real-time Controllers

PXI embedded real-time controller를 이용한 Bimodal-tram Simulator

  • 변윤섭 (한국철도기술연구원) ;
  • 김영철 (충북대학교 전기전자컴퓨터공학부)
  • Published : 2010.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

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.

Keywords

References

  1. Korea Railroad Research Institute, http://www.bimodaltram.com
  2. Y.C. Kim et al. 3, "A Lateral Dynamic Model of an All Wheel Steered Bimodal Vehicle," Proc. Of ICCAS 2007, pp.1734-1737, Seoul, Korea, 2007.
  3. D. de Bruin and P.P.J. Bosch, "Modeling and control of a double articulated vehicle with four steerable axles," Proc. of American Control Conf., pp.3250-3254, San Diego, USA, June 1999.
  4. H. Boterenbrood, "CANopen high-level protocol for CAN-bus" Version 3.0, NIKHEF Amsterdam, March 20 2000
  5. NATIONAL INSTRUMENTS "CANopen LabVIEW Libary Help" Version 1.1.1
  6. NATIONAL INSTRUMENTS "NI-CAN Hardware and Software Mamual" October 2006
  7. HENGSTLER "Absolute Shaft Encoder, ACURO industry with CANopen" Technical Manual Version 3
  8. NATIONAL INSTRUMENTS http://www.ni.com/labview/
  9. Young-Chol Kim , Kyung-Deuk Min, Kyoung-Han Yun, Yun-Seob Byun and Jai-Kyun Mok, "Steering Control for Lateral Guidance of an All Wheel Steered Vehicle", Proc. Of ICCAS 2008
  10. Logitech Logitech MOMO${\circledR}$ Racing Force Feedback Wheel http://www.logitech.com/