• The KIPS Transactions:PartA
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• v.17A no.1
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• pp.19-26
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• 2010

As standard of living is higher and aging society is coming, it is needed to develop transportation that is easy to use for weak person. To comply with the demands, it is started to make Bi-modal Tram that is on KRRI(Korea Railroad Research Institute)'s hands. This tram has to have good accessibility like bus, be low level from ground like subway, and park accurately so wheel chair's or passenger's foot can't fall into the gap. But Bi-modal Tram have long length, so it need development of All Wheel Steering System. The Bi-modal Tram that have all wheel steering system steer not only the first axle but also the second and third axle from the first axle or articulation angle, and velocity, and so on. At this study, we discuss AWS ECU's development process.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.5
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• pp.25-33
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• 2013

All-wheel steering (AWS) system is applied to articulated vehicles to reduce turning radius. The swing-out suppression algorithm is applied to AWS ECU, a key component of AWS system. The swing-out suppression algorithm applied to AWS ECU has a problem when velocity of vehicle is changed. In this paper, new algorithm based on moving distance that solve velocity problem is proposed. The HILS simulation and the test articulated bus is used to validate algorithm.

• Proceedings of the KSR Conference
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• 2006.05b
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• pp.1118-1123
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• 2006

• Journal of the Korean Society for Railway
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• v.11 no.3
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• pp.225-232
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• 2008

AWS (all wheel steering) is applied to improve the stability and the turning performance. Most automotive cars are mainly controlled by FWS (front wheel steering) system except some cars which are made to improve their stability by using AWS. Articulated vehicles with a pivoting joint for easy turn are difficult to make a sharp turn because of the long body and long wheelbase. Therefore applying AWS to the articulated vehicles is effective to reduce the turning radius. The AWS control method for the articulated vehicles is currently applied to only Phileas vehicles which were developed by APTS. The paper on the design of a controller to guide an articulated vehicle along the path was published but control algorithm for manual driving has not been reported. In the present paper, steering, characteristics of the Phileas vehicles have been analyzed and then new algorithm has been proposed. To verify the AWS algorithm, Commercial S/W, ADAMS was used for validity of the dynamic model and algorithm.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.452-453
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• 2008

전 차륜 조향 굴절차량의 자동안내제어를 위한 기준경로와의 편차 되먹임 방식은 곡선경로에서 발생하는 정상상태 오차를 줄이기 어렵다. 본 논문은 이 차량의 자동안내제어의 성능향상을 위한 전향보상기 설계에 대해 기술한다.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.1
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• pp.144-151
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• 2008

The bi-modal vehicle is composed of two car-bodies and three axles. Each axle of the vehicle has an independent suspension and all wheels are steerable. Since the bi-modal vehicle has longer wheelbase than most urban buses, the All-Wheel-Steering(AWS) system is adapted for to ensure safe driving and proper turning radius on a curved road. This paper proposes an AWS control algorithm for stable driving of bi-modal vehicle. Steering angles and directions of each axle of bi-modal vehicle changed according to the driving environment and steering modes. In the case that front and rear axles should be steered in opposite directions is a negative mode, and the other case that the axles should be steered in the same direction is a positive mode. For example, in the positive mode, front and real axles are steered in the same direction, while in the negative mode, they are steered in the opposite direction. A multibody model of the vehicle is used to verify the performance of the steering algorithm and simulation results of 2WS are compared with those of AWS under the same condition.