• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.04b
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• pp.44-48
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• 1993

산업현장에서부터 실생활용품에 이르기까지 각종판재를 소재로하여 제작하는 가공품은 종류나 수가 매우 많다고 할수 있다. 이러한 제품들을 제작 하기 위해 여러단계의 성형 공정을 거치게 되며 원만한 성형공정 을 수행하기 위한 적절한 판재성형 제어방법으로써 다이곡률 반경의 변화나 블랭크홀딩가압정도의 부분적 변화로 드로잉률을 향상시키는 방법도 있으나 이보다 판재의 성형공정 제어방법에서 공구사이 상하에 비드 를 설치하여 판재를 성형할 경우 성형공정후 제품의 두께 분포가 비교적 균일해지고 드로잉의 마찰저항을 부분적으로 증가시키며 판재성형중 미끄럼 저항의 균형을 이루어 성형시킬 판소재가 절감도며 또한 성형중 주름을 억재하여 드로잉률을 향상시킨다. 다른 방법에 비해 비드는 설차가 간단해서 적절한 형상의 bead set을 선정하여 산업현장에서 실제 사용하고 있으며 또한 소재가 비드를 통과한후 탄성역에서 소성역으로 전환되기에 성형공정 이후 스프링백 현상으로인한 제품형상의 치수가 변하는 현상을 방지하는 효과도 기대할수 있다. 따라서 본 연구에서는 자동차용판재인 아연도금피막 강판으로 실험한 결과와 비드 이론식을 고찰해 보고자 한다.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.6
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• pp.106-113
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• 1997

A new algorithm based upon TDC (Time Delay Control) is proposed to improve the robustness of TDC performance in systems where the stick-slip friction is strong. Experiments were performed at the different levels of friction. The reponses of the TDC and the modified TDC were compared each other, and against those of a PID controller with an anti-windup. The results show that the TDC and the modified TDC equally perform better than the PID, and that the modified TDC performs consistently well even with variations in the friction level while the TDC does not.

• Journal of the KSME
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• v.32 no.10
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• pp.847-857
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• 1992

일반적으로 자동차의 샤시(chassis)라 하면 총체적인 개념에서 자동차로부터 차체(body)를 제외한 부분을 일컫는데, 구동 및 제동장치, 바퀴 현가장치, 조향장치, 타이어 및 휠 등이 이에 속한다. 1970년대 마이크로 컴퓨터의 응용기술이 도입되면서 엔진분야에서 시작한 자동차 전자화기술은 구동 및 제동분야에서의 전자제어식 제동잠김 및 구동 미끄럼방지 시스템(ABS/TCS)의 응용기 술을 거쳐 1980년 중반부터 차량의 현가 및 조향분야에서 능동형의 시스템이 개발되기 시작하 였다. 그 대표적인 예로서 자동차용 적응식 및 반 능동식 가변댐퍼(variable damper), 능동식 현가시스템(active suspension system) 그리고 4륜조향 시스템(four wheel steering system)을 들 수 있다. 1990년대에 들어서는 이러한 각종 능동형 시스템이 종합적으로 고려되어 설계되는 이 른바 자동차의 샤시 통합제어 시스템(chassis integrated control system)또는 능동형 샤시 시스템 (active chassis system)으로 발전되어 가고 있는 추세에 있다. 이 글에서는 최근에 가장 대표 적인 능동형 샤시시스템으로서 각종 능동식 현가시스템 및 4륜조향 시스템의 개발동향 및 기 술적, 경제적인 측면에서의 종합적인 검토를 하고자 한다.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.2
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• pp.176-184
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• 2001

The VDC(Vehicle Dynamics Control) is a control system whose target is to improve vehicle stability under critical motion. The system has a good potential of becoming a standard active safety unit in passenger vehicles since it can be implemented on top of the ABS/TCS system with little extra cost. This, however, is possible only when the signals that the VDC system demands can be obtained with sufficient accuracy. In this research, estimators for the road friction coefficient and body sideslip angle have been designed. The two variables have great influence upon performance of the VDC system but not directly measurable. For the estimator design, the Newton method and the nonlinear observer theory have been exploited. The performance of the estimator have been verified via simulations on critical driving conditions.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.5
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• pp.108-117
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• 1997

To prove the stability and the effectiveness of the robust non-linear friction control suggested and proved analytically in the previous paper, the describing function analysis is introduced. The instability of the Southward's nonlinear friction compensation for a digital position control and the improvement of phase margin of the robust nonlinear friction compensation are verified qualitatively through the describing function analysis. Those controls are applied to a single-axis digital servo driving experimental setup which has inherent stick-slip friction and experimental results confirm the results obtained in and the effectiveness of the robust nonlinear friction compensation for a digital position control.

• Proceedings of the Korea Information Processing Society Conference
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• 2021.11a
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• pp.1032-1035
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• 2021

본 논문에서는 IoT 기술을 활용한 사용자 맞춤형 보행보조기구 시스템을 제안한다. 아두이노 기반으로 제작하는 맞춤형 보행보조기구는 리니어 액추에이터, 솔레노이드, 블루투스, 가속도 센서 외 다양한 센서들로 기능을 제공한다. 안전한 환경 제공을 위한 야간 조도 조절과 토양 상태 파악을 통한 미끄럼 방지 및 계단 보행보조를 통해 2차 부상 방지를 목적으로 한다. 올바른 사용을 위한 균형 제어와 길이 제어 및 위생 관리가 가능하다. 또한 어플리케이션을 통한 대여시스템을 제공하여 맞춤형 기능을 선택하고 병원에서 환자 정보를 연동하여 편리한 시스템을 개발한다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.8 s.179
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• pp.1899-1909
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• 2000

This paper proposes a new $H_{\infty}$ yaw moment control scheme using brake torque switching for improving vehicle performance and stability especially in high speed driving. In the scheme, one wheel is selected, depending on the vehicle states, at which a brake torque for control is applied. Steering angles are modeled as a disturbance to the system and the $H_{\infty}$ controller is designed to minimize the difference between the performance of the vehicle and that of the desired model. Its performance robustness as well as stability robustness to system parameter variations is assured through ${\mu}$-analysis. Various simulations with a nonlinear 8-DOF vehicle model show that proposed controller enhances the vehicle performance and stability under disturbances and parameter variations as well as under the normal driving condition.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.8 s.227
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• pp.1125-1134
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• 2004

This paper presents a mathematical model which is about the dynamics of not only a two wheel steering vehicle but a four wheel steering vehicle. A sliding mode ABS control strategy and PID rear wheel control logic are developed to improve the brake and cornering performances, and enhance the stability during emergency maneuvers. The performances of the controllers are evaluated under the various driving road conditions and driving situations. The numerical study shows that the proposed full car model is sufficient to accurately predict the vehicle response. The proposed ABS controller reduces the stopping distance and increases the vehicle stability. The results also prove that the ABS controller can be employed to a four wheel steering vehicle and improves its performance. The four wheel steering vehicle with PID rear wheel controller shows increase of stability when a vehicle speed is high and sharp cornering maneuver when a vehicle speed is low compared to that of a two wheel steer vehicle.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.12
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• pp.1217-1224
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• 2009

A simple and effective guidance and control scheme that enables autonomous three-dimensional path-following for a fixed wing aircraft is presented. The method utilizes the nonlinear path-following guidance law for the outer loop that creates steering acceleration command based on the desired flight path and the current position and velocity of the vehicle. The scheme considers the gravity in the guidance level, where it is subtracted from the acceleration command to form the specific force acceleration command which the aircraft is better suited to follow than the total acceleration command in the inner-loop. A roll attitude control scheme is also presented that enables inverted flight or sideslip maneuvers such as slow roll and knife-edge. A series of aerobatic maneuvers are demonstrated through simulations to show the potential of the proposed scheme.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.12
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• pp.997-1003
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• 2014

This paper describes modeling process to obtain precise landing gear model which is necessary to design a control law for ground auto-taxi, auto take-off/landing of UAV. In this paper, landing gear side force modeling is studied to complete a landing gear model of UAV. Side force modeling is performed by calculating cornering angle including steering angle. And ground directional controller is designed by using nose wheel steering and rudder steering at the same time to control course angle error. Accuracy of landing gear side force modeling and ground directional controller is proved by comparing of auto-taxi test results with simulation results.