Abstract
Since a bi-modal tram has an extended wheel base and an articulated chassis, an all-wheel steering system (AWS) is applied to it to satisfy the required steering performance. An AWS electronic control unit (ECU) controls the hydraulic actuator according to the vehicle driving environment, such as the driver steering angle, articulating angle, and vehicle velocity. In this paper, the test platform developed for the AWS ECU test in a hardware in the loop (HIL) environment is explained. Using the developed test platform, the control algorithm of the AWS ECU can be evaluated under the virtual driving condition of the bi-modal tram. Also, vehicle manoeuvrability is investigated using this test platform. The AWS system, including ECU hydraulic system and embedded software, can be verified by the hardware in the loop simulation (HILS) test results.
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