Control Electronics of TMK2200 Type Tramcar for the City of Zagreb

The paper deals with the development and system integration of all the tram electronic control units used in the currently running project. All electronic sub-systems are mentioned, but particular attention is given to the in-house hardware and software development of the main vehicle control unit, control electronics for traction units, auxiliary supply units and visualization unit. Furthermore, the tram communication networks are described along with appropriate communication protocols.