• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.2
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• pp.209-220
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• 1996

In this paper, dynamic performance of 4WD/4WS Electric-driven vehicles is investigated. A coupled dynamic model is introduced for longitudinal, lateral and yawing motion of 4WD/4WS vehicles. Based on the coupled model, dynamic performance is analyzed for steady-state steering, acceleration steering and brake steering, respectively. These non steady-state cornering analysis is important for non-paved road maneuvering, trajectory projection for armored vehicle and future AVCS(Advanced Vehicle Control System) technology. Simulation results are obtained based on a simulink module for the introduced model.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.3
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• pp.109-114
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• 2008

The solenoid valve of ABS hydraulic modulator is a two directional on-off valve and is controlled by around 100Hz on-off control. When the on-off valve is switched from open state to closed state, there are braking force deterioration, noise and vibration due to surge pressure in the wheel cylinder. In this study, identifies surge pressure in the braking process of ABS, and investigates the way to reduce the phenomenon. To reduce the surge pressure, PWM(Pulse Width Modulation) control with high frequency of 20kHz was attempted. In conclusion, by using the results of this study for the pressure surge prediction, we could expect enhancement of braking performance in ABS.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.4
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• pp.121-130
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• 2001

For the purpose of optimal control of anti-lock brake systems, precise dynamic characteristics analysis of hydraulic modulator, especially solenoid valve is necessary. However, most of researches so far have dealt with dynamic characteristic analysis of valve itself, and the results have been restrictively applied to the actual ABS modulator, where hydraulic pressure is acting. In this study, mathmatical modeling and experimental analysis were peformed in order to evaluate the valve dynamic characteristics when the hydraulic pressure is applied. High pressure on the master cylinder that affects on the valve dynamic characteristics have been analyzed quantitatively, and performance improvement methods have been suggested through parameter study. Consequently, results of solenoid valve dynamic characteristics analysis derived in the study can be utilized as criteria for the optimal control of anti-lock brake systems.

• Journal of the Korean Institute of Intelligent Systems
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• v.6 no.2
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• pp.57-71
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• 1996

차량 모델 비선형성의 주된 요인중 하나는 타이어의 비선형성이라고 할 수 있다. 타이어 모델도 간편화하기 위해 선형화된 타이어 모델을 적용할 경우에 저속 주행 또는 고속 주행이라고도 조향각이 적을 때는 문제가 없지만, 급격한 가감속과 과도한 조향각을 주었을 때는 타이어 미끄럼 각(Tire Slip Angle)이 급격히 변화되므로 선형화 된 타이어 모텔을 적용하지 못하게 된다. 그러므로 타이어와 지면 사이의 물리적 현상을 자세히 표현할 수 있는 비선형 타이어 모델을 적용하지 못하게 된다. 그러므로 타이어와 지면 사이의 물리적 현상을 자세히 표현할 수 있는 비선형 타이어 모델이 요구되어진다. 실험적 모델은 실제 차량의 실험 데이터를 바탕으로 커브 피팅(Curve Fitting)하여 타이어의 동특성을 표현하도록 모델링 하므로서 모델의 정확도를 높일 수 있는 반면 요구하는 계수들이 많아지게 되어 계산량이 증가되는 단점이 있다. 기존의 타이어 모델 연구 결과에 대해 분석하고, 관측 자료들을 바탕으로 FMFNN(Fuzzy Membership Function based Neural Network)을 이용한 함수 근사화로서 타이어 횡축력과 종축력의 모델링 방법을 제안하였다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.2 no.3
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• pp.303-308
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• 1998

As the technology of industrial automation using robot system grows the rapid advance, productivity improvement and decrease in number of maintenance, management occur in many fields. Therefore, more various and intelligent robot motions are needed without human being help. Considering this situation, the need of robot with various, fast and safe acting sensors are demanded. In these sensings, the slippage sensing gives us specific information between ripper and object while grasps the object. In this paper, we proposed new slippage sensing algorithm for various and intelligent robot motion. So, optimal grasping force control and compensation of position error is possible for an adaptive task execution using adaptive control.

• Proceedings of the KAIS Fall Conference
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• 2000.10a
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• pp.86-86
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• 2000

차량의 한목 바퀴가 웅덩이나 수렁에 빠졌을 태 동력이 한쪽바퀴로만 전달되어 수렁에서 빠져 나을 수가 없게 된다 따라서, 이러한 주행 조건에서 용이하게 빠져 나오게 하기 위하여 좌, 우측 바퀴에 전달되는 동력을 동시에 전달하는 장치가 필요하다. 이 장치가 개발 하고자 하는 NSD(차동제한장치)이다. 따라서 본 연구에서는, 국내외 특허 자료 조사 및 외국기술 동향을 파악하고 장단점을 비교 검토, 미끄럼 제어 알고리즘을 이용한 Non Slip Mechanism 설계, 설계 데이터에 의한 주요 부품별 강도 해석 및 안전성 검토, 위 내용을 기초로 하여 외국 제품과 비교하여 손색이 없는, 다소 우수한 기능을 가진 한국형 NSD를 개발하였으며, 시제품 제작과 성능시험을 준비중에 있다.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.12
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• pp.81-90
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• 1995

Anti-lock Brake System has been developed to reduce tendency for wheel lock and improve vehicle control during sudden braking on slippery road surfaces. This is achieved by controlling the braking pressure avoiding wheel lock, while retaining handling and brake performance. This paper is concerned about characteristics of a solenoid valve in hydraulic modulator for controlling brake pressure. First, it was modeling the electromagnet by the permeance method. Second, it was modeling the commercial Maxwell poackage program. And then, a experiment was performed in order to justify modeling. The result of modeling coincided with teh result of experiment and commercial packabe program. As a result, these modelings will be able to use in analysis of dynamic character- istics of the solenoid valve for braking.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.2
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• pp.392-397
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• 2006

This paper proposed yaw moment control scheme using braking and active rear wheel steering for improving driving stability especially in high speed driving. Its characteristics the unified chassis control system of two equipment that 4WS(4 Wheel Steering) and ESP(Electronic Stability Program). in this study the performance of the vehicle was compared each equipment. And conventional ABS and TCS can only possible to control the longitudinal movement of braking equipment and drive which can only available to control of longitudinal direction. There after new braking system ESP was developed, which controls both of longitudinal and lateral, with adding of the function of controlling Active Yaw Moment. On this paper, we show about not only designing of improved braking and steering system through establishing of the integrated control system design of 4WS and ESP but also designing of the system contribute to precautious for advanced vehicle stability problem.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.12
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• pp.910-917
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• 2018

This paper describes the developments to improve the feeling and safety of the remote control system of unmanned vehicles. Generally, in the case of the remote control systems, a joystick-type device or a simple steering-wheel are used. There are many cases, in which there are operations without considering the feedback to users and driving feel. Recently, as the application area of the unmanned vehicles has been extended, the problems caused by not considering the feedback are emphasized. Therefore, the need for a force feedback-haptic control arises to solve these problems. In this study, the force feedback-haptic control algorithm considering the vehicle parameters is proposed. The vehicle parameters include first the state variables of dynamics, such as the body side-slip angle (${\beta}$) and yawrate (${\gamma}$), and second, the parameters representing the driving situations. Force feedback-haptic control technology consists of the algorithms for general and specific situations, and considers the situation transition process. To verify the algorithms, a simulator was constructed using the vehicle dynamics simulation tool with CAN communication environment. Using the simulator, the feasibility of the algorithms was verified in various scenarios.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.3
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• pp.38-44
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• 2003

The solenoid valve in ABS hydraulic modulator is a two directional on-off valve and is controlled by around 100Hz high speed pulse width modulation. When the valve is switched from open state to closed state, noise and vibration due to pressure surge phenomena in the hydraulic line and wheel cylinder are made. In this study, we identify Pressure surge phenomenon in the braking process of a ABS, and investigate the way to reduce the phenomenon. For the purpose of theoretical analysis on the pressure surge in the closed state hydraulic line, characteristic curve method based on wave equation was utilized. To reduce the surge, high frequency control of 20kHz was attempted. The result showed that the surge pressure of 50% was reduced compared to one observed in the low frequency control. Duty variation of high frequency can control current of solenoid valve and prevent sudden change of displacement.