• Title/Summary/Keyword: 6륜 구동/6륜 조향

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Fault-Tolerant Driving Control of Independent Steer-by-Wire System for 6WD/6WS Vehicles Using High Slip (고슬립을 이용한 6 륜구동/6 륜조향 차량 고장 안전 주행 제어)

  • Nah, Jae Won;Kim, Won Gun;Yi, Kyongsu;Lee, Jongseok;Lee, Daeok
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.37 no.6
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    • pp.731-738
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    • 2013
  • This paper describes a fault-tolerant driving control strategy for an independent steer-by-wire system in sixwheel-drive/six-wheel-steering vehicles. An algorithm has been designed to realize vehicle maneuverability that is as close as possible to that of non-faulty vehicles by inducing high slip ratio of the wheel through a faulty steer-by-wire system in order to reduce the lateral tire force, which is resistant to the yaw motion. Considering the transition of the longitudinal tire force of a wheel with a faulty steer-by-wire component, the longitudinal tire forces are optimally distributed to the other wheels. Fault-tolerant driving performance has been investigated via computer simulations. Simulation studies show that the proposed algorithm can significantly improve the maneuverability of a vehicle with a faulty steer-by-wire system as compared to the optimal traction distribution method.

development of Loader Equipped with 4WD and 4WS (I) (4 Wheel Driving Transmission) (4WD 및 4WS이 가능한 로더 개발(I) (4륜 구동 변속기))

  • 조현덕
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.7 no.6
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    • pp.141-148
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    • 1998
  • A loader is construction & road or agricultural machinery for lifting, moving, and mixing. This study deals with the agricultural mini loader for stock raising farming. The performance of the machine is established by pulling power, working lifting capacity, and minimum circling radius, etc. Also, driving easiness and endurance are very important in manufacturing. Thus, this study has developed the loader with the 4-wheel driving equipment by gear transmission, the 4-wheel steering equipment by power handle steering type, and the equipment making four wheels touch simultaneously on the rugged ground. The developed loader having these functions was very fit in a small cattle shed or a rugged ground. This study is divided into two parts; (I) development of 4WS transmission and (II) construction of the loader by 4WS system and other equipments.

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A Fundamental Study on Integrated Dynamic Control of 6WD/6WS Vehicle (6WD/6WS 차량의 통합운동제어에 관한 기초적 연구)

  • Kim, Young-Ryul;Park, Young-Won
    • Journal of the Korea Institute of Military Science and Technology
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    • v.13 no.6
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    • pp.958-966
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    • 2010
  • In this paper, we have proposed a integrated dynamic control architecture in 6WD(wheel drive)/6WS(wheel steering) vehicle for military applications. Since 6WD/6WS vehicle has inherent redundancy, the input variables to make any desired vehicle motion can not be determined uniquely. Therefore, optimal distribution method of tire forces is introduced, which is based on workload of each tire. Simulation result shows that this is effective for the energy minimization and dynamic performance enhancement. We also suggest how the integrated control with any failure mode should be reconstructed.

A Wheeled Inverted Pendulum System with an Automatic Standing Arm (자동기립이 가능한 차륜형 역진자 시스템 개발)

  • Lee, Se-Han
    • Journal of the Korean Institute of Intelligent Systems
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    • v.25 no.6
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    • pp.578-584
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    • 2015
  • In this study a moving platform for a mobile robot that can be traveling with a full automatic standing arm was developed. Conventional mobile robots generally may equip 4 wheels or 3 wheels with a caster wheel or independent driven wheels and have good statistic stability. When a mobile robot travels on a sharply perpendicular and narrow crossroad, it may need a special steering scheme such as going forward and backward repeatedly or it is sometimes physically impossible for the robot to go through the crossroad because of the size limit. The upright running mobile robot changes its posture to the upright posture which has a small planar area and is able to go through the crossroad. The upright control which was manually performed step by step before such as sequences of uprighting (returning), checking, and balancing, is now automated.

Dynamic Performance Analysis for 6WD/6WS Armored Vehicles (6WD/6WS 군용차량의 동역학적 성능해석)

  • 홍재희;김준영;허건수;장경영;오재응
    • Transactions of the Korean Society of Automotive Engineers
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    • v.5 no.6
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    • pp.155-166
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    • 1997
  • In this study, a simulation tool is developed in order to investigate non steady-state cornering performance of 6WD/6WS special-purpose vehicles. 6WD vehicles are believed to have good performance on off-the-road maneuvering and to have fail-safe capabilities. But the cornering performances of 6WS vehicles are not well understood in the related literature. In this paper, 6WD/6WS vehicles are modeled as a 18 DOF system which includes non-linear vehicle dynamics, tire models, and kinematic effects. Then the vehicle model is constructed into a simulation tool using the MATLAB /SIMULINK so that input/output and vehicle parameters can be changed easily with the modulated approach. Cornering performance of the 6WS vehicle is analyzed for brake steering and pivoting, respectively. Simulation results show that cornering performance depends on the middle-wheel steering as well as front/rear wheel steering. In addition, a new 6WS control law is proposed in order to minimize the sideslip angle. Lane change simulation results demonstrate the advantage of 6WS vehicles with the proposed control law.

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A Study on Maneuvering Control Algorithm Based on All-wheel Independent Driving and Steering Control for Special Purpose 6WD/6WS Vehicles (전차륜 독립휠 구동 및 조향 제어 기반 특수목적용 6WD/6WS 차량의 주행제어 알고리즘 연구)

  • Lee, Daeok;Yeo, Seungtai
    • Journal of the Korea Institute of Military Science and Technology
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    • v.16 no.3
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    • pp.240-249
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    • 2013
  • This paper discusses the maneuvering control algorithm based on all-wheel independent driving and steering control techniques for special purpose 6WD/WS vehicles. The maneuvering control algorithms considering superior dynamic characteristics of high power in-wheel motors and independent steering system are designed to perform driving, steering, vehicle stability, and fault tolerant control. The maneuvering controller applies sliding and optimal control theories considering optimal torque distribution and friction circle related to the vertical tire force. The fault tolerant control algorithm is applied to obtain the similar maneuverability to that of the non-faulty vehicle. The simulations using the Matlab/Simulink dynamics model and experiments using HIL simulator mounting the real controllers with the designed control algorithms prove the improved performances in terms of vehicle stability and maneuverability.