• 전력전자학회논문지
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• 제17권5호
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• pp.401-408
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• 2012

A simple on-line elimination strategy of the dead time and inverter nonlinearity using the current slope information is presented for a PWM inverter-fed IPMSM (Interior Permanent Magnet Synchronous Motor) drive. In a PWM inverter-fed IPMSM drive, a dead time is inserted to prevent a breakdown of switching device. This distorts the inverter output voltage, resulting in a current distortion and torque ripple. In addition to the dead time, inverter nonlinearity exists in switching devices of the PWM inverter, which is generally dependent on operating conditions such as the temperature, DC link voltage, and current. The proposed scheme is based on the fact that the d-axis current ripple is mainly caused by the dead time and inverter nonlinearity. To eliminate such an influence, the current slope information is determined. The obtained current slope information is processed by the PI controller to estimate the disturbance caused by the dead time and inverter nonlinearity. The overall system is implemented using DSP TMS320F28335 and the validity of the proposed algorithm is verified through the simulation and experiments. Without requiring any additional hardware, the proposed scheme can effectively eliminate the dead time and inverter nonlinearity even in the presence of the parameter uncertainty.

• 한국운동역학회지
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• 제17권3호
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• pp.11-21
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• 2007

The purpose of this study was to examine the differences of kinematics and muscle activities depending on the changes of angle approaching balls during backhand drive in squash. The results are as follows. Stride time took the longest at AD2 and step lengths were the biggest at AD1 of left foot contact and right foot contact and AD2 of impact and follow-through. The center of gravity and the speed of racket head were the highest at AD3 and at AD2. Angle of shoulder joint were the biggest at AD1 of left foot contact, right foot contact and impact and AD3 of follow-through. Angle of elbow joint were the biggest at AD3 of left foot contact, right foot contact and follow-through and AD2 of impact. Angle of pelvis joint were the biggest at AD2 of left foot contact, AD1 of right foot contact and AD3 of impact and follow-through. Angle of knee joint were the biggest at AD2 of left foot contact, AD1 of right foot contact and AD3 of impact and follow-through. Angle of ankle joint were the biggest at AD1 of left foot contact and AD3 of right foot contact, impact and follow-through. According to the analysis results of triceps brachii, latissimus dorsi, brachioradialis muscle and flexor carpi ulnaris muscle activities were high at AD1 of all phases. Analysis results of vastus lateralis, vastus medialis, tibialis anterior and gastrocnemius medial muscle activities were high at AD2 of phase1 and phase3. Those of vastus lateralis, vastus medialis and tibialis anterior, gastrocnemius medial were high at AD3 of Phase 2 and AD1 of phase2.

• 한국산학기술학회논문지
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• 제10권9호
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• pp.2210-2220
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• 2009

대형 특수차량용 독립현가형 액슬은 극소수 전문업체에서 생산되며 설계, 제작, 시험평가 등 세부기술은 제공되지 않고 있다. 또한 액슬 제작을 위한 설계기준 설정에는 시작품을 실제 차량에 탑재하여 수년 이상 소요되는 내구성 시험이 필수적이다. 본 연구는 독립현가형 액슬의 핵심부품인 스루드라이브를 역설계방법으로 개발하였으며 개발목표 달성 확인에 필요한 시험평가기준을 제안하였다. 또한 CAD/CAE 도구를 사용하여 제품을 설계하고 설계검증을 거쳐 시제품을 제작하였다. 본 연구에 적용된 개발절차 및 방법은 차량의 동력전달계통 개발에 유용할 것이다.

• 한국산학기술학회논문지
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• 제11권11호
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• pp.4515-4521
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• 2010

대표적인 지향성 안테나인 야기 안테나를 무인 경계 레이더 센서에 적용 가능하도록 설계, 제작하였다. 본 논문에서 제안된 안테나가 무인 경계 레이더 센서에 적용되기 위해서는 7.2-8.2GHz의 동작주파수, 7dBi 이상의 최대 방사 이득과 $60^{\circ}$ 이상의 3dB 빔폭을 만족하여야한다. 7dBi 이상의 최대 방사 이득과 $60^{\circ}$ 이상의 빔폭을 얻기 위해 3개의 디렉터를 가진 야기 안테나를 유전체 기판 위에 설계하였다. 또한 드라이브 단의 밸런스드 급전을 위하여 Microstrip-to-CPS 발룬을 설계하여 제안된 안테나에 적용하였다. 제안된 안테나의 가상 실험 결과와 측정 결과를 비교하여 제안된 안테나의 성능을 검증하였다.

• 드라이브 ㆍ 컨트롤
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• 제12권3호
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• pp.36-43
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• 2015

An autonomous vehicle control algorithm based on Ackerman Geometry is known to be reliable in low tire slip situation. However, vehicles at high speed make lateral errors due to high tire slip. In this paper, considering the tire slip of vehicles, the steering angle is determined based on the Ackerman Geometry and is supplemented tire slip angle by the Stanley steering algorithm. In addition, to prevent the tire slip, the algorithm, which restricts steering if a certain level of slip occurs, is used to reduce the lateral error. While many studies have been extended to include vehicle slip, studies also need to be carried out on the tire slip depending on hardware performance. The control algorithm of autonomous vehicles is compensated considering the sensor noise and the performance of steering actuator. Through the various simulations, it was found that the performance of steering actuator was the key factor affecting the performance of autonomous driving. Also, it was verified that the usefulness of steering algorithm considering the tire slip and performance of steering actuator.

• 드라이브 ㆍ 컨트롤
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• 제13권1호
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• pp.18-26
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• 2016

This research is conducted to develop an automatic steering system for parallel parking, and the performance of the system was evaluated by parallel parking a conventional vehicle. The automatic steering system consisted of MDPS (motor driven power steering) to control steering, ESC (electronic stability control) to acquire wheel speed, ultrasonic sensors to recognize the parking space, and a controller to communicate and handle data. The parallel parking process using the automatic steering control consisted of parking space recognition, parking path generation, and parking path tracking. The path for parallel parking was generated based on a kinematic model of a conventional vehicle, and a PI controller was used to control the steering angle for path tracking. Parallel parking using the automatic steering control was conducted according to vehicle speed conditions. The results show that the errors on the x-axis and y-axis were below 0.54 m and 0.14 m, respectively, and the error on the steering angle was less than $1^{\circ}$. Therefore, it is possible to implement parallel parking using an automatic steering control system for conventional vehicles.

• 드라이브 ㆍ 컨트롤
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• 제13권2호
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• pp.19-25
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• 2016

Recently, drivers have begun to regard comfort in the cabin as one of the most important factors in construction equipment like forklifts. Accordingly, it has become more important to design a forklift cabin with a better sound quality as well as lower sound level, which can make a driver more comfortable. In this paper, the correlation between subjective evaluation and Zwicker's sound quality index was analyzed through a blind test by a few workers in forklifts and other construction equipment in several countries. Correlation analysis showed that Loudness and Sharpness were ranked in sequence, and tendencies were different from country to country. Also, contribution analysis for Loudness and Sharpness using operational transfer path analysis (OTPA), which is widely used in the field of noise, vibration, and harshness (NVH), was performed. However, Loudness and Sharpness cannot be used with OTPA directly because there are no linear relationships between the sources and receivers. In this paper, both are calculated by applying the DIN 45631 method with a contribution rate (%) of 1/3 Octave Sound Pressure Level by OTPA method in addition to considering spectral masking.

• 드라이브 ㆍ 컨트롤
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• 제12권3호
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• pp.52-59
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• 2015

An electro hydraulic poppet valve (EHPV) and a variable orifice poppet are assembled in a single block, which is referred to as a RHINO but is also generally called a pilot-operated flow control valve. In this study, we analyzed the structure and the operating principle for a RHINO applied in a 21-ton electric excavator system. The RHINO was experimentally tested to measure the dynamic responses and the pressure energy loss. In this test, we investigated the variation in the conductance coefficient according to the increase in the supply pressure under a constant current and a variation in the flow rate according to the increase in the current. Then, the geometrical shapes and the spring stiffness of the RHINO were considered to develop an analysis model. The characteristics (current-force and hysteresis) for the solenoid based on the experimental data were reflected in the analysis model that was developed, and the reliability of the analysis model was also verified by comparing the experimental and analytical results. The developed model is thus considered to be reliable for use in a wide range of applications, including optimum design, sensitivity analysis, parameter tuning, etc.

• 드라이브 ㆍ 컨트롤
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• 제13권1호
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• pp.1-9
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• 2016

Nowadays automatic transmission equipped vehicles prevail in construction and agricultural equipment due to their convenience in driving and operation. Though domestic vehicle manufacturers install imported electronic controlled transmissions at present, overseas products will be replaced by domestic ones in the near future owing to development efforts over the past 10 years. For passenger cars, there are many kinds of shift control algorithms that enhance the shift quality such as feedback and learning control. However, since shift control technologies for heavy duty vehicles are not highly developed, it is possible to improve the shift quality with an organized control method. A feedback control algorithm for neutral-into-gear shift, which is enabled during the inertia phase for the master clutch slip speed to track the slip speed reference, is proposed based on the power transmission structure of TH100. The performance of the feedback shift control is verified by a vehicle test which is implemented with firmware embedded TCU. As the master clutch engages along the predetermined speed trajectory, it can be concluded that the shift quality can be managed by a shift time control parameter. By extending the proposed feedback algorithm for neutral-into-gear shift to gear change and shuttle shift, it is expected that the quality of the shift can be improved.

• 드라이브 ㆍ 컨트롤
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• 제12권3호
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• pp.18-24
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• 2015

The plug-in hybrid electric vehicle has a high fuel economy and can be driven long distances. Its different modes include the electric vehicle, hybrid electric vehicle, and only engine operating mode. A power management strategy is important to determine which mode should be selected. The strategy makes the vehicle more efficient using appropriate power sources for driving. However, the strategy usually needs a driving speed profile which is future driving cycle. If the profile is known, the strategy easily determines which mode is driven efficiently. However, it is difficult to estimate the speed profile for a real system. To address this problem, this paper proposes a new power distribution strategy using a neural network. The average speed and driving range are used as input parameters to train the neural network system. The strategy determines a limit for the use of the battery and the desired power is distributed between the engine and the motor simultaneously. Its fuel economy can increase by improving the basic strategy.