• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.23 no.6 s.165
• /
• pp.931-942
• /
• 1999

This paper develops a 3 DOF vehicle model which includes lateral, roll and yaw motion to study a 4WS vehicle. The model is used for the simulation of a 4WS vehicle behavior, and to derive a control algorithm for rear wheel steering. This paper uses a feedforward plus feedback control scheme to compute a rear wheel steering angle. The feedforward control scheme for computing the first rear wheel steering angle uses a gain which is acquired by multiplying a proper value on a gain to maintain a zero sideslip angle. The feedback control scheme for computing the second rear wheel steering angle uses fuzzy logic and model following control scheme. A linear 2 DOF model is used as a reference model for model following control, and is derived from the developed 3 DOF model by neglecting sprung mass roll motion. A reference state variable is yaw rate, and is computed using the linear 2 DOF model. J-turn and lane change maneuver simulation are performed to show the effectiveness of the developed control scheme. The simulation results show that the 4WS vehicle with the developed control scheme has much better performance in yaw rate, lateral acceleration, roll angle, and sideslip angle than the 2WS vehicle. Also, the results show that the performance of the developed control is close to the one of an optimal control which assumes all states are perfect.

• International Journal of Highway Engineering
• /
• v.10 no.3
• /
• pp.87-96
• /
• 2008

Wandering, variation of wheel tracks, has not been considered as an important factor for pavement designs and maintenance due to measuring difficulties. In order to investigate vehicle lateral displacements on roadways, this study measured wheel tracks on two-lane and four-lane National highways with lane widths 3.25m and 3.5m. The results showed that the tracks of left and right wheels were distributed into different forms, and those of left wheels were more concentrated. In the mean of the left distributions, 59.5cm and 80.7cm were obtained on lane widths 3.25m and 3.5m respectively by cars, and 58.4cm and 73.6cm were obtained by trucks. These mean differences seem to be generated from those between the lane widths. It is recommended to apply the distribution of left wheel tracks for pavement designs.

• Journal of the Korean Society for Railway
• /
• v.14 no.1
• /
• pp.49-56
• /
• 2011

In this paper, it was compared the characteristics of the stress and settlement that occur from a track on the ground using a model test and has quantitatively analyzed the difference based on stress path and effect of the rotation of principal stress. Under identical roadbed conditions, the settlement generated by moving wheel loads were found to be 6 times and 3 times larger than that from static loads and cyclic loads, respectively. The deviator stress affecting shear deformation and the length of stress path generated by moving loads were twofold or greater increase than those by static loads. Furthermore, the stress path generated by moving loads was approached more closely to Mohr-Coulomb failure criteria compared to that by static loads. Also, it was found that ballasted track was occurred about 60% of maximum stress at $40^{\circ}$ of the rotation angle of principal stress and was affected with rotation of principal stress with moving wheel loading condition.

• The Journal of the Convergence on Culture Technology
• /
• v.4 no.4
• /
• pp.413-418
• /
• 2018

The purpose of this study is to investigate the cause of rail corrugation and the track force for concrete track (STEDEF) in the urban transit. From the field measurements, the dynamic wheel load, vertical displacement of sleeper and rail bending stress were measured and it was evaluated by regarding to the rail corrugation. As a result of the study, the causes of rail corrugation was experimentally proved by frequency analysis using measured dynamic wheel load data. The influence of corrugation on dynamic wheel load, rail bending stress and sleeper displacement was evaluated that the periodic irregularities of rail corrugation on the rail surface amplified the dynamic track force such as the dynamic wheel load, and thus the rail bending stress and the vertical displacement of sleeper could be increased by a maximum of 1.7 times.

• Korean Journal of Agricultural Science
• /
• v.38 no.1
• /
• pp.121-128
• /
• 2011

I/An electro-hydraulic transmission having advantages of convenience, safety, simple linking and high power, and an electronic control system were designed and fabricated. In this study, characteristics of the control system were investigated through outdoor tests for evaluation of installation of the system on a combine. Major findings were as followings. 1. Experiment for performance evaluation of the control system was conducted on concrete road. With steering lever in neutral position, driving HST swash plate and left/right wheel speed increased in proportion to driving lever angle. In case of steering control, steering swash plate angle changed in proportion to steering lever angle. This should cause increase in outer wheel speed, but it was observed that HST swash plate was controlled toward neutral to maintain the speed before steering. As a result, speed before steering was maintained despite the change in outer wheel speed by steering HST swash plate angle change. 2. It was observed that the HST system enabled steering with outer wheel maintained at constant speeds while inner wheel speed decreased, which was more stable than conventional mechanical links. In addition, for the selected 5 criteria, experiment showed satisfactory results and it was judged that installation on real vehicle would be feasible. 3. The control system showed response property of appropriate forward/reverse movement and lift/right steering, without causing any problems during experiment on concrete. Result of response property experiment on field operation also showed appropriate control over forward/reverse movement and left/right steering.

• Journal of Industrial Technology
• /
• v.22 no.A
• /
• pp.169-176
• /
• 2002

The purpose of this paper is to investigate for strain measurement of concrete pavement slab at field. The early-age behaviors of concrete pavement were measured using the strain gages. From the static and dynamic wheel loading tests, the outputs from each gages were recorded. The measured data, also, was compared to those from finite element analysis. The static wheel loading tests were performed in twice, and the dynamic wheel loading tests were performed at the speed 10km-50km. The results could be summarized as follows: To embed the strain gage accurately and stably in concrete pavement, a chair and protective box must be used. The protective box must not be affected from the outside vibrating. From the results of early-age stram measurement, it was found that the strain varied at the maximum value of $180{\mu}{\varepsilon}$ From the results of static wheel loading tests, A1, A2 and B gages generally developed a consistent tendency When comparing the results from the measured at field and the calculated by FEM analysis, the data of A1 and B gages were similar to that from theory. The values from the field test were generally higher than that from the theory. From the results of dynamic wheel loading tests, it was known that the measured strain at field became smaller as the truck speed became faster, Indicating the maximum at the range of $12{\sim}13{\mu}{\varepsilon}$.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.19 no.2
• /
• pp.1-11
• /
• 2011

The skid-steering method that applied a number of mobile robot currently is extremely effective in narrow area. But it contains several problems such as its natural properties, slip, occurred by different direction between vehicle's driving and wheel's rotary. Through this paper, suitable control algorithm of $6{\times}6$ skid steering wheeled vehicle and its driving methods are proposed by analyzing the behavior $6{\times}6$ skid-steered wheeled vehicle model designed by engineering analysis strategy. To do this, based on a behavior of designed driving system, required torque and other performance of in-wheel type motor system are considered, and finally control algorithm for each wheel is proposed and simulated using this model. To test the proposed vehicle system, driver model is designed using PID closed loop system and included in the total driving control algorithm. The Performance of designed vehicle model is verified by using DYC (Direct Yaw Control) cornering mode and slip mode control to follow the steering input which are essential to evaluate the driving performance of $6{\times}6$ vehicle. Proposed modeling strategy and control method will be implemented to the real $6{\times}6$ in-wheel drive type vehicle.

• Aerospace Engineering and Technology
• /
• v.12 no.2
• /
• pp.57-63
• /
• 2013

The mission of a lot of satellites on geostationary orbit is the communication and/or the broadcasting. These satellites need a big power, so these have a large solar array. Recently, the new satellite for Earth environment monitoring is developing on geostationary orbit. The payload of Earth monitoring satellite requires better thermal condition on detector. Therefore this satellite uses a boom for the attitude stability instead of rejecting one-side solar array as a heat source. The other hand, it uses some momentum wheels being a more momentum capacity to control the large disturbance by solar pressure due to the asymmetric solar array configuration. In this paper, the analysis on the wheel allocation and the wheel off-loading for COMS is summarized and the results are verified by telemetry of COMS. COMS has no boom and a perfectly asymmetric solar array configuration, and it is operating well on geostationary orbit.

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

• Tribology and Lubricants
• /
• v.35 no.5
• /
• pp.267-273
• /
• 2019

Wheel bearings are important automotive parts that bear the vehicle weight and translate rotation motion; in addition, their seals are components that prevent grease leakage and foreign material from entering from the outside of the bearings. Recently, as the need for electric vehicles and eco-friendly vehicles has been emerging, the reduction in fuel consumption and $CO_2$ emissions are becoming the most important issues for automobile manufacturers. In the case of wheel bearings, seals are a key part of drag torque. In this study, we investigate the prediction of the drag torque taking into consideration the hyperelastic and viscoelastic material properties of automotive wheel bearing seals. Numerical analysis based on the finite element method is conducted for the deformation analyses of the seals. To improve the reliability of the rubber seal analysis, three types of rubber material properties are considered, and analysis is conducted using the hyperelastic material properties. Viscoelastic material property tests are also conducted. Deformation analysis considering the hyperelastic and viscoelastic material properties is performed, and the effects of the viscoelastic material properties are compared with the results obtained by the consideration of the hyperelastic material properties. As a result of these analyses, the drag torque is 0.29 Nm when the hyperelastic characteristics are taken into account, and the drag torque is 0.27 Nm when both the hyperelastic and viscoelastic characteristics are taken into account. Therefore, it is determined that the analysis considering both hyperelastic and viscoelastic characteristics must be performed because of its reliability in predicting the drag torque of the rubber seals.