• Journal of Drive and Control
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• v.16 no.2
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• pp.22-29
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• 2019

This study presented a model predictive tracking control algorithm of autonomous truck based on object state estimation using extended Kalman filter. To design the model, the 1-layer laser scanner was used to estimate position and velocity of the object using extended Kalman filter. Based on these estimations, the desired linear path for object tracking was computed. The lateral and yaw angle errors were computed using the computed linear path and relative positions of the truck. The computed errors were used in the model predictive control algorithm to compute the optimal steering angle for object tracking. The performance evaluation was conducted on Matlab/Simulink environments using planar truck model and actual point data obtained from laser scanner. The evaluation results showed that the tracking control algorithm developed in this study can track the object reasonably based on the model predictive control algorithm based on the estimated states.

• Journal of the Korean Society for Railway
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• v.19 no.6
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• pp.709-716
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• 2016

To reduce the aerodynamic drag of high speed trains, aerodynamic drag of KTX-Sancheon was analyzed in detail according to individual components. Aerodynamic drag values of the power cars (front car, rear car) and bogies are about 42.9% and 10.1% of the total aerodynamic drag, respectively. For the aerodynamic drag reduction of a power-car, a nose shape optimization was conducted using the Broyden-Fletcher-Goldfarb-Shanno optimum method. Shape change of a power car and bogie fairing adaptation are used to reduce the aerodynamic drag of a car body. The aerodynamic drag of the optimized train-set dropped by 15.0% compared to the aerodynamic drag of the KTX-Sancheon; a running resistance reduction of 12% is expected at the speed of 350km/h.

• Journal of the Korean Society for Railway
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• v.18 no.2
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• pp.87-93
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• 2015

The uneven reaction surface profile facing the lift magnets in attractive Maglev vehicles naturally brings about pitch motion of the bogie. In particular, in the placement configuration of the long stator of the linear synchronous motor (LSM) on the track for high-speed propulsion, surface irregularities and the offsets between the stator packs create measurable airgaps, i.e., the clearance between the magnet and the stator, with discontinuously extreme values, resulting in bogie pitch motion. This occurs because the airgap velocities and accelerations derived by the differentiations of the measured air-gaps are used to determine the voltages applied to the magnets. This paper incorporates bogie pitch motion into a control law for each magnet controller to reduce the variations in both the airgap and the pitch angle. The effectiveness of the proposed method is analyzed using a full-scale Maglev vehicle running over a test track.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.22 no.6
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• pp.1-6
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• 2022

In this research, we suggest a real-time tele-driving system for unmanned fire truck control using the LTE communication system. The operator located in the safe area could drive the unmaned fire truck by implementing the secure tele-operation in case of the emergencies and disaster situation. A prototype of the unmaned fire truck was developed with a fire canon, a high pressure pump, a ball valve and a horse reel. The effect of time delay and FPS was quantified depending on the image sizes and the effective system for realtime tele-operation was suggested. To verify the suggested system, the test was performed between an operator and an unmanned fire truck which is approximately 30km apart. In this research, the immersion tele-driving system is suggested for real-time fire suppression with a 120ms time delay using LTE communication.

• Journal of the Korean Society for Railway
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• v.13 no.6
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• pp.583-588
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• 2010

Track irregularities is one of key factors influencing running behavior of train. In order to ensure safety and ride comfort, it is highly important that relationship between track irregularity and running behavior of vehicle is identified and the criteria for track irregularities is adequately established. Numerical analysis was conducted to investigate influence of surface on running behavior of KTX and various wavelength and amplitude of surface were considered in numerical analysis. Derailment, lateral load, bogie acc., body acc. of numerical analysis results were investigated to evaluate the effect on track profile on safety and ride comfort of KTX.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.11
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• pp.53-60
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• 2020

The bogies of railway vehicles are one of the most critical components for service. Fatigue defects in the bogie can be initiated for various reasons, such as material imperfection, welding defects, and unpredictable and excessive overloads during operation. To prevent the derailment of a railway vehicle, it is necessary to evaluate and detect the defect of a connection weldment between the car body and bogie accurately. The safety of the bogie weldment was checked using an ultrasonic test, and it is necessary to determine the occurrence of defects using a learning method. Recently, studies on deep learning have been performed to identify defects with a high recognition rate with respect to a fine and similar defect. In this paper, the databases of weldment specimens with artificial defects were constructed to detect the defect of a bogie weldment. The ultrasonic inspection using the wedge angle was performed to understand the detection ability of fatigue cracks. In addition, the convolutional neural network was applied to minimize human error during the inspection. The results showed that the defects of connection weldment between the car body and bogie could be classified with more than 99.98% accuracy using CNN, and the effectiveness can be verified in the case of an inspection.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.11
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• pp.617-623
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• 2020

Urban railroad vehicles carry many passengers and are the core of an urban railroad transportation system. Therefore, the dynamic performance of the vehicle must be ensured. Dynamic behaviors such as the vibration and ride comfort of railway vehicles are affected by the structure of the suspension system. We analyzed the dynamic behavior of a railway vehicle according to the suspension system of an urban railway vehicle, which is mainly operated in Korea. For two types of vehicles with different suspension structures, the vibration of the vehicles on railway tracks was measured, and dynamic behavior characteristics such as vibration, ride, and vibration reduction rate were analyzed. The result of the test shows that the vibration performance of the body is superior to that of B-bogie in the lateral direction and that of A-bogie in the vertical direction. Overall, the ride quality of the A-bogie car is superior to that of B-bogie. When analyzing the vibration attenuation rate of primary suspension system, the vibration attenuation performance of B-bogie with coil spring was superior to that of A-bogie with a conical rubber spring. The secondary suspension system has better vibration attenuation performance for A-bogie with air springs compared to coil springs.

• Journal of the Korean Society for Railway
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• v.12 no.1
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• pp.16-24
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• 2009

In this study, fatigue crack growth rate of a cracked railway bogie frame under variable amplitude loading is predicted by applying linear elastic fracture mechanics. For this purpose, we find the critical points by reference surveying on cracked railway bogie frames. And we make an effective load history by synthesizing the dynamic load measured from the critical points of railway bogie frame during commercial line operation and the static load calculated from structural analysis. Crack growth analyses are performed at the 3 critical points under the commercial operation loading condition by assuming an initial crack size as 40 mm. and the results are compared with the experimental results from Japanese railway bogie frame crack growth case. From the analysis results, we find that around 500,000 km operating distance is necessary to bring crack growth from the initial crack to unstable crack. And it takes around 3.8 normal operating years. We conclude that it is enough time to detect the crack between normal maintenance period.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.9
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• pp.643-651
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• 2020

A capsule train runs inside a sub-vacuum tube and can reach very high speed due to the low air resistance. A capsule train uses a superconducting electrodynamic suspension (SC-EDS) method for levitation, which allows for a large levitation gap and does not require gap control. However, SC-EDS has inherent characteristics such as the large gap variation and a small damping effect in the levitation force, which can degrade the running stability and ride comfort. To overcome this, a stability improvement device should be designed and applied based on dynamic analysis. In this study, a 1/10 small-scale testbed was developed to replicate the dynamic characteristics of a capsule train and investigate the performance of stability improvement devices. The testbed is composed of a 6-degree-of-freedom Stewart platform for the realization of bogie motion, a secondary suspension with a running stabilization device, and a carbody. Based on the dynamic similarity law proposed by Jaschinski, the small-scale testbed was manufactured, and a bogie motion algorithm was applied with the consideration of guideway irregularity and levitation stiffness. The experimental results from the testbed were compared with simulation results to investigate the performance of the testbed.

• Journal of the Korean Society for Railway
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• v.4 no.3
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• pp.116-122
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• 2001

As freight traffic becomes heavier, the high speed of existing freight cars is essential, instead of the construction of a new railway. The high speed can be achieved by the modifications of freight bogie design. In this paper, an analytical model of freight bogie is developed to decide the critical speed. The dynamic responses of the analytical model are compared with the experimental data from a running test of freight bogie and showed good agreements between them. The analytical model is used to find the design of freight bogie. The parameter studies show that the reduction of wheelset mass ratio and the increase of the axle distance of freight bogie can increase the critical speed, but the primary lateral stiffness has little effects on the critical speed. And this study also shows that smaller wheel conicity deteriorates the running safety of freight car, which means that the overhauling of the wheel of freight bogie should be done regularly.