Since a bimodal tram has low bodies and has more than one body and thus the bodies are bended, it needs a wheel steering system to reduce its turning radius, guarantying a safe drive. An all wheel steering (AWS) system is the electronic control unit to steer wheels through controlling a hydraulic system based on the current driving condition.
When a bimodal tram with an AWS turns, the so-called “swing out” phenomena occurs making the rear part stray out of the regular lane. The bimodal tram requires a control mechanism to minimize the swing out. The typical algorithm to control swing out based on vehicle speed has a drawback, which changes the rear wheel turning angles depending on vehicle speed. In this thesis, a swing out minimization algorithm is proposed, which controls rear wheel turning angles based on travel distance. The proposed algorithm is simulated and its performance is confirmed. The performance is also verified through a real test driving.
