• Title/Summary/Keyword: 미끄럼제어

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An Antilock Brake Controller Design Using Hardware In-the Loop Simulation (Hardware In-the Loop Simulation을 이용한 미끄럼방지 제동제어기의 설계)

  • Lee, Ki-Chang;Jeon, Jung-Woo;Hwang, Don-Ha;Lee, Se-Han;Kim, Yong-Joo
    • Proceedings of the KIEE Conference
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    • 2004.07d
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    • pp.2320-2322
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    • 2004
  • 전자제어식 미끄럼방지 제동장치 (ABS, Antilock Brake System)는 차량의 급제동시 발생할 수 있는 바퀴의 슬립을 방지하여 차량의 제동거리를 단축시키고 주행 성능을 향상시키는 차량 내 안전장치이다. 지난 몇 년 동안 공압식 제동시스템을 사용하는 대형차량에 적합한 미끄럼방지 제동 제어기를 연구해 왔다. 이 제어기는 바퀴의 슬립율과 그 변화량을 이용한 제어 법칙을 유도하여, 제어 파라미터로 사용하고 있다. 이러한 제어 파라미터의 튜닝에는 맡은 반복적인 실험이 요구된다. 이러한 요구에 부응하기 위하여 차량의 제동을 실시간으로 모사 할 수 있는 HILS (Hardware In-the Loop Simulation) 시스템을 개발, 구축하였다. 개발 HILS는 공압식 브레이크 시스템 및 14 자유도를 가지는 차량 동역학 모델 및 타이어-바퀴 동역학을 소프트웨어 모델로 사용하고, 개발 중인 전자제어식 미끄럼 방지 제동 제어기를 하드웨어로 사용하여, 바퀴속도 센서 신호 모의 장치 및 공압 엑추에이터 모의 신호등의 인터페이스 장치를 사용하여 제동중인 차량의 상태를 실시간으로 시뮬레이션 및 감시할 수 있다. 이 개발 HILS를 이용하여 제동 제어기의 제어 파라미터의 튜닝을 짧은 시간에 성공적으로 끝낼 수 있었을 뿐만 아니라, HILS 실험을 마친 제어기는 미끄럼 방지 제동 시험장에서 실차 주행 시험을 무사히 마침으로써, 개발 기간과 비용을 절감할 수 있는 하드웨어를 이용하는 시뮬레이션의 효용성을 간접적으로 증명하였다.

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A Study on the Performance Evaluation of Antilock Brake Controller for a Heavy Vehicle (대형차량 정착용 미끄럼방지 제동장치 전자제어기의 성능평가에 관한 연구)

  • Lee, Ki-Chang;Jeon, Jung-Woo;Hwang, Don-Ha;Nam, Taek-Kun;Kim, Yong-Joo
    • Proceedings of the KIEE Conference
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    • 2003.07d
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    • pp.2025-2027
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    • 2003
  • 미끄럼방지 제동장치는 차량의 급제동 시 바퀴의 장김을 방지하여, 바퀴의 슬립을 최적으로 유지 시킴으로써 제동거리를 단축시키고, 운전자가 차량 조향성을 유지할 수 있게 만드는 차량 안정장치이다. 이 장치는 비행기의 착륙거리를 줄이기 위해 개발된 이래로, 철도 및 차량 등에도 널리 적용되고 있으며, 국내에서도 이미 승용차를 위주로 양산되고 있는 추세이다. 이러한 미끄럼방지 제동 장치는 공압 브레이크 장치를 사용하는 대형차량 분야에서는 아직 국내에서 적용된 사례가 없었으나, 지난 3 년간의 연구개발의 성과로 대형 버스에 적용 가능한 미끄럼방지 제동장치의 전자제어기가 개발 완료되었으며, 국제 규격을 바탕으로 국내 현실에 적합한 미끄럼방지 제동장치 장착 대형차량의 시험 규격을 정하여 이 규격에 의거 제동시험을 실시하고 개발 제어기의 성능을 평가하였다. 각 제동 시험은 $\mu$-Jump 제동시험 및 Split-$\mu$ 제동시험 등의 직진 주행 중 급제동시험, 급제동 중 차선변경 시험, 장애물 회피 제동시험 등을 포괄하며 국제적인 규격을 기준으로 정한 독자 규격을 만족하였다. 본 논문에서는 공압 브레이크를 장착한 대형차량의 미끄럼방지 제동장치의 제동성능평가 시험방법을 소개하고, 이 방법에 의해 성능평가 시스템 및 측정 시스템을 구성하여, 개발 전자제어기의 우수성을 확인하였으며, 그 측정결과의 일부를 제시하였다.

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Development of Vehicle Dynamics Control System (차량동역학제어시스템 개발)

  • 김동신;신현성;박병석
    • Transactions of the Korean Society of Automotive Engineers
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    • v.7 no.9
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    • pp.212-219
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    • 1999
  • This paper describes the NANDO VDC (Vehicle Dynamics Control) system for the vehicle stability enhancement and consists of the control strategies , computer simulation and tests on the various road surface. This VDC system controls the dynamic vehicle motion in the emergency situation such as the final oversteer/understeer andallows the vehicle to follow the course as desired by the driver. The system is based on an active yaw control and its performance verified by the test is shown. Also the comparison between the MANDO VDC System and a competitor is carried out.

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Hydraulic Control Characteristics of the ABS for an Automotive (자동차 미끄럼방지 제동장치의 유압 제어 특성)

  • Kim, Byeong-Woo;Park, Ho
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.8 no.1
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    • pp.10-17
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    • 2007
  • For the purpose of optimal control of anti-lock brake system, precise dynamic characteristics analysis of the hydraulic modulator, especially solenoid valve is necessary. However, most of researches so law have dealt with dynamic characteristic analysis of valve itself and the results have been restrictive to apply on the actual ABS modulator, where hydraulic pressure is acting. In this study, mathematical modeling and experimental analysis were executed in order to evaluate the valve dynamic characteristics when the hydraulic pressure applied. High pressure on the master cylinder effects on the valve dynamic characteristics have been analyzed quantitatively and performance improvement methods have been suggested varying the design factor. Consequently, results of solenoid valve dynamic characteristics analysis derived in the study can be utilized criteria for the optimal control of anti-lock brake system.

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An Experimental Study of an Anti-lock Brake System (미끄럼 방지 제동시스템에 대한 실험적 고찰)

  • Kang, Sung-Hwang;Kim, Jae-Ho
    • Transactions of the Korean Society of Automotive Engineers
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    • v.14 no.5
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    • pp.17-24
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    • 2006
  • Anti-lock brake system(ABS) are designed to prevent wheel lock on all wheels of the vehicle by sensing wheel angular speed, processing the speed sensor signals in suitable digital electronic control circuits and comanding electrohydraulic actuators to control brake pressure. This study considers a control of ABS using wheel circumferential acceleration thresholds which avoids dangerous wheel locking due to excessive brake pressure during the vehicle braking and discusses the 3-channels, 3-sensors ABS system that employs "independent control" technique for the front wheels and "select low" technique for the rear wheels. The validities of the ABS such as vehicle stability, steerability and stopping distance during braking are assured through the vehicle tests on uniform asphalt straight roads.

An Experiment Study on Sideslip Angle Effect of Lambda Wing Configuration (람다 날개 형상의 옆미끄럼각 효과에 대한 실험적 연구)

  • Shim, HoJoon;Park, Seung-O;Oh, Se-Yoon
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.43 no.3
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    • pp.224-231
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    • 2015
  • An experimental study on aerodynamic coefficients of a lambda wing configuration was performed at the low speed wind tunnel of Agency for Defense Development. The main purpose of this study was to investigate the effects of sideslip angle on various aerodynamic coefficients. In the case of $0^{\circ}C$ sideslip angle, nose-up pitching moment rapidly increases at a specific angle of attack. This unstable pitching moment characteristic is referred to as pitch break or pitch up. As the sideslip angle increases, the pitch break is found to be generated at a higher angle of attack. Rolling moment is found to show similar behavior pattern to 'pitch break' style with angle of attack at non-zero sideslip angles. This trend gets severer at greater sideslip angles. Yawing moment also shows substantial variation of the slope and the unstable directional stability with sideslip angles at higher angles of attack. These characteristics of the three moments clearly implies the difficulty of the flight control which requires efficient control augmentation system.

Skid Resistance Change by Dirt Material on Road Surface of Concrete Pavement (콘크리트포장의 노면 잔류 이물질에 따른 미끄럼저항변화)

  • Lee, Seung-Woo;Kim, Nam-Choul
    • International Journal of Highway Engineering
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    • v.6 no.4 s.22
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    • pp.35-43
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    • 2004
  • Skid resistance is an important factor that control braking distance and secure safety by preventing slipperiness between tire and pavement surface. Decrease of skid resistance at wet condition may cause fatal traffic accidents. Dirt materials such as sand and do-icings on the road surface also can be a factor for decrease skid resistance. This study makes an investigation into influence of skid resistance between varied cement concrete pavements about surface texturing method(transverse tining, longitudinal tining, exposed aggregate surface texturing method) and wearing condition of pavement surface texture(new constructed pavement's surface, wore pavement's surface) using accelerate concrete pavement wearing tester when remains of dirt material are obtained between tire and road surface on PCC pavement. As dirt material on road surface of concrete pavement, sand, calcium chloride and old oil were used with different amount of each cases.

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Control of Stick-Slip Friction with a CMAC (CMAC 제어기를 이용한 점착 미끄럼 마찰의 제어)

  • Park, J.H.
    • Journal of the Korean Society for Precision Engineering
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    • v.12 no.6
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    • pp.45-51
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    • 1995
  • This paper proposes a CMAC-based controller for servo systems with stick-slip friction. Performance of the controller was evaluated from computer simulations and compared with that of a conventional PID controller. Firction model used in the simulations is based upon the one proposed by Tustin. It was shown that the CMAC-based controller settles more quickly, and overshoots less than the PID. It was also shown that the CMAC is less sensitive to the changes of the plant parameters.

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Investigation of the Intake Stability of Bank-to-Turn Supersonic Missile under Sideslip Angle Based on CFD Analysis (CFD 해석 기반 종축기동 초음속 비행체의 옆미끄럼각에 따른 흡입구 안정성 분석)

  • Park, Jungwoo;Park, Iksoo;Jin, Sangwook;Park, Keunhong;Hwang, Kiyoung
    • Journal of the Korean Society of Propulsion Engineers
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    • v.18 no.3
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    • pp.8-16
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    • 2014
  • This paper analyzes the effects of sideslip angle(SA) on the buzz margin of supersonic intake. The buzz margin is assumed to be stabilized by a controller which generates command depending only on the longitudinal sensor measurements. The analysis is performed based on three dimensional CFD results with which the sensor measurements can be simulated. In such a control system based on the longitudinal measurements, unexpected lateral flow perturbation results in the increase in the total angle of attack(TAoA), that causes the degradation of the engine intake performance. As a consequence, it is shown that the control stability is reduced such that additional control margin needs to be secured.

A Study on Gripper Force Control Of Manipulator Using Tactile Image (Tactile 영상을 이용한 매니퓰레이터의 그리퍼 힘제어에 관한 연구)

  • 이영재;박영태
    • Journal of the Korean Institute of Telematics and Electronics T
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    • v.36T no.1
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    • pp.64-70
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    • 1999
  • When manipulator moves the objects, the object position error can be occurred because of acceleration or negative acceleration according to the direction. So we make manipulator working path for establishing optimal gripper force control preventing occurrence of object position error. And we attached the tactile sensor on the gripper of manipulator which gives us very specific information between manipulator and object. Reasoning of continuous tactile image data, manipulator can sense rotation and slippage and change the grasping force that corrects calculated grasping force and compensation can be possible of the object position error. We use the FSR(Force Sensing Resistor)sensor which consists of 22 by 22 taxels and continuous taxel number is used for filtering and using the moment method for sensing algorithm in our experiment.

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