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철도차량 능동조향을 위한 실시간 곡률측정 센서

안다훈1,#orcid, 허현무2, 신유정2

Real-Time Curvature Measurement Sensor for Active Steering of Railroad Vehicles

Dahoon Ahn1,#orcid, Hyunmoo Hur2, Yujeong Shin2
Journal of the Korean Society for Precision Engineering 2019;36(3):219-224.
Published online: March 1, 2019

1 공주대학교 기계자동차공학부

2 한국철도기술연구원 차세대철도차량본부

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#E-mail: haiyansae@gmail.com, TEL: +82-31-460-5666
• Received: September 3, 2018   • Revised: September 17, 2018   • Accepted: September 28, 2018

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  • Verification of Control Algorithm for Improving the Lateral Restoration Performance of an Independently Rotating Wheel Type Railway Vehicle
    Yonho Cho
    International Journal of Precision Engineering and Manufacturing.2020; 21(7): 1247.     CrossRef

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Real-Time Curvature Measurement Sensor for Active Steering of Railroad Vehicles
J. Korean Soc. Precis. Eng.. 2019;36(3):219-224.   Published online March 1, 2019
DOI: https://doi.org/10.7736/KSPE.2019.36.3.219
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Real-Time Curvature Measurement Sensor for Active Steering of Railroad Vehicles
J. Korean Soc. Precis. Eng.. 2019;36(3):219-224.   Published online March 1, 2019
DOI: https://doi.org/10.7736/KSPE.2019.36.3.219
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Real-Time Curvature Measurement Sensor for Active Steering of Railroad Vehicles
Image Image Image Image Image Image Image Image Image Image
Fig. 1 Principle of real-time curvature measurement using rotation angle between the car body and the bogie
Fig. 2 Implementation of curvature sensor
Fig. 3 Application of curvature information to active steering system
Fig. 4 Analysis on lateral force of conventional railroad vehicle when running curved track
Fig. 5 Lateral force reduction rate with respect to steering control curvature ratio for each track curvature from 1.67 km-1 to 5 km-1
Fig. 6 Curvature information of an actual metro track under operation
Fig. 7 Displacement measurement signal of the lateral damper placed between the car body and the bogie was acquired from the running railroad vehicle to analyze in frequency domain
Fig. 8 Actual installed position of the curvature sensor on the railroad vehicle and its displacement when the vehicle running curved track
Fig. 9 Installation of the manufactured curvature sensor on a metro railroad vehicle
Fig. 10 Field test results using real-time curvature measurement sensor

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Fig. 9

Fig. 10

Real-Time Curvature Measurement Sensor for Active Steering of Railroad Vehicles

Tolerance band of active steering control for achieving 80% of lateral force reduction

Curvature
radius
(m) 		Curvature
(km-1) 		Steering control
curvature ratio
(Under-steering) 		Steering control
curvature ratio
(Over-steering) 		0-p Steering
control
curvature
ratio (%)
200 5.00 0.911 1.22 15.3
300 3.33 0.724 1.11 19.2
400 2.50 < 0.500 1.07 > 28.5
500 2.00 < 0.500 1.04 > 27.0
600 1.67 < 0.500 1.02 > 26.0

Analysis results of curvature estimation

Curvature radius
(m) 		Curvature (km-1) Error (%)
Actual Estimated
200 5.00 5.0026 0.05
300 3.33 3.3221 0.34
400 2.50 2.5083 0.33
500 2.00 2.0057 0.29
600 1.67 1.6617 0.30

Curvature estimation error due to actual installation of curvature sensor on railroad vehicle

Curvature radius
(m) 		Curvature (km-1) Error (%)
Actual Estimated
200 5.00 5.0742 1.48
300 3.33 3.3671 1.01
400 2.50 2.5192 0.77
500 2.00 2.0124 0.62
600 1.67 1.6753 0.52

Error of curvature measurement sensor from the field test

Curvature radius
measured by
Track inspection
(m) 		Curvature
measured by
Track inspection
(km-1) 		Curvature
measured by
curvature sensor
(km-1)		 Error
(%)
265.6 3.76 3.71 1.40
268.1 3.73 3.68 1.30
324.1 3.09 3.17 2.89
Table 1 Tolerance band of active steering control for achieving 80% of lateral force reduction
Table 2 Analysis results of curvature estimation
Table 3 Curvature estimation error due to actual installation of curvature sensor on railroad vehicle
Table 4 Error of curvature measurement sensor from the field test

Table 1

Table 2

Table 3

Table 4

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