축간거리가 긴 트럭이나 굴절차량과 같이 차량이 길이가 길고 2량 이상 편성된 차량은 회전반경을 줄여 원활하게 곡선을 주행할 수 있도록 전 차륜 조향방식(AWS)을 적용한다. 굴절차량에 도입된 방법은 네덜란드 APTS사의 Phileas 차량이 유일하며 자동으로 운전하기 위한 제어방법에 대한 논문은 발표되었지만 수동으로 조향되어 운전되는 경우에 대한 알고리즘은 소개되거나 공개되어지지 않았다. 따라서 본 연구에서 네덜란드의 APTS사의 차량에 대한 수동운전시의 조향장치 특성을 분석하고 새로운 알고리즘을 제안하였다. 또한 개발된 알고리즘을 상용 동역학 프로그램인 ADAMS를 이용하여 적용성을 알아보았다.
AWS (all wheel steering) is applied to improve the stability and the turning performance. Most automotive cars are mainly controlled by FWS (front wheel steering) system except some cars which are made to improve their stability by using AWS. Articulated vehicles with a pivoting joint for easy turn are difficult to make a sharp turn because of the long body and long wheelbase. Therefore applying AWS to the articulated vehicles is effective to reduce the turning radius. The AWS control method for the articulated vehicles is currently applied to only Phileas vehicles which were developed by APTS. The paper on the design of a controller to guide an articulated vehicle along the path was published but control algorithm for manual driving has not been reported. In the present paper, steering, characteristics of the Phileas vehicles have been analyzed and then new algorithm has been proposed. To verify the AWS algorithm, Commercial S/W, ADAMS was used for validity of the dynamic model and algorithm.
