• 제목/요약/키워드: Acceleration/Deceleration

검색결과 384건 처리시간 0.046초

적응제어 기법을 적용한 ABS의 바퀴 슬립 제어 (Wheel Slip Control of ABS Using Adaptive Control Method)

  • 최종환
    • 한국기계가공학회지
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    • 제5권3호
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    • pp.71-79
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    • 2006
  • ABS is a safety device for preventing wheel locking in a sudden baking. Its control methods are classified into three types; deceleration control, wheel slip control and deceleration/acceleration control. The braking force takes the influence of the friction coefficient between road and tire, which in turn depends on the wheel slip as well as road conditions. In this paper, it has been proposed the wheel slip control system to apply the adaptive control method at the ABS. To maintain wheel slip to desired wheel slip, it have been done the linearization and designed the adaptive controller to apply gradient method based on the reference model. It is illustrated by computer simulations that the proposed control system gives good performances and adaptation to parameter variation.

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Characterization of a Micro-Laser-Plasma Electrostatic-Acceleration Hybrid-Thruster

  • Akira Igari;Masatoshi Kawakami;Hideyuki Horisawa;Kim, Itsuro ura
    • 한국추진공학회:학술대회논문집
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    • 한국추진공학회 2004년도 제22회 춘계학술대회논문집
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    • pp.271-277
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    • 2004
  • As one of the concepts of the laser/electric hybrid propulsion system, a feasibility study on possibilities of electrostatic acceleration of a laser ablation plasma induced from a solid target was conducted. Energy distributions of accelerated ions were measured by a Faraday cup. A time-of-flight measurement was also conducted for ion velocity measurement. It was found that an average speed of ions from a pure laser ablation in this case was about 20 km/sec for pulse energy of 40 $\mu$J/pulse with pulse width of 250 psec. On the other hand, through an electrostatic field with a + I ,000 V electrode, the speed could be accelerated up to 40 km/sec. It was shown that the electrode with positive potential was more effective than that with negative potential for positive-ion acceleration in laser induced plasma, or pulsed plasma, in which ions were induced with the Coulomb explosion following electrons. In addition, the ion-acceleration or deceleration strongly depended on conditions of pairs of inner diameter and electrodes gap.

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고속도로 졸음쉼터 제원 산정 및 설계기준 정립에 관한 연구 (Development of Specifications and Design Criteria of Rest Area for Drowsy Drivers)

  • 오석진;박제진;홍정표;하태준
    • 대한토목학회논문집
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    • 제37권2호
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    • pp.397-407
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    • 2017
  • 본 연구는 고속도로 졸음쉼터 현황 조사 및 문제점 도출을 통해 졸음쉼터의 제원 산정 및 설계기준 수립을 위한 개선안 제시를 목적으로 한다. 고속도로 졸음쉼터 진입부를 감속변이구간, 감속차로, 진입연결로로 분류하고, 진출부는 진출연결로, 가속차로, 가속변이구간으로 분류하여 차량의 본선 주행속도, 진출입연결로의 시 종점부 주행속도, 감속도 및 가속도 등을 고려하여 구간별 적정길이를 산정하였다. 또한 졸음쉼터 주차부를 주차형태, 횡단구성 주차공간의 길이 등으로 구분하고, 실제 졸음쉼터를 이용하는 차량의 이용률, 중차량 비율, 졸음쉼터 내 설계속도 등을 고려하여 합리적인 설계기준을 정립하였다. 본 연구를 통해 제시된 고속도로 졸음쉼터 설계기준은 향후 졸음쉼터 계획 및 재정비 시 유용하게 활용될 수 있을 것으로 판단된다. 또한, 고속도로 졸음쉼터의 규정 및 산정 결과를 고려한 졸음쉼터의 설치기준 정립은 휴게시설 및 고속도로 교통사고 예방은 물론 이용률 증가 및 안전성 측면의 향상을 가져올 것으로 판단된다.

차량궤적자료를 이용한 SSM 산출 방법론 개발과 적용사례 분석 (Methodology for Calculating Surrogate Safety Measure by Using Vehicular Trajectory and Its Application)

  • 박성용;이청원;고승영;이용관
    • 대한교통학회지
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    • 제33권4호
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    • pp.323-336
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    • 2015
  • Surrogate safety measure(SSM)를 이용하여 도로상의 위험을 측정하는 방식은 사고의 직접적인 원인과 연관된 차량의 거동을 분석 대상으로 한다는 장점을 가지고 있으나, 한 지점에 국한된 정보를 이용하기 때문에 위험을 연속적으로 분석하는 데에 제약이 있다. 이러한 한계를 극복하기 위해 본 연구에서는 RTK-DGPS를 이용하여 차량들의 궤적을 얻는 방안을 제시하고, 이를 통해 time-to-collision(TTC), deceleration rate to avoid collision(DRAC), acceleration noise(AN) 등의 SSM을 산출하는 데에 필요한 문제들을 고려한 방법론을 설정하였다. 또한 본 연구에서는 검토된 방법론을 이용하여 운전 중 발생하는 다양한 차량거동 변화를 관찰하기 위하여 영동고속도로 북수원IC-군포IC 구간을 대상으로 실험을 수행한 결과를 제시하였다. 그 결과 궤적 기반 SSM 지표값이 다양한 주행 상황에서의 위험성을 합리적으로 설명할 수 있음을 확인하였다. 본 연구는 향후 다양한 구간특성 및 운전자 특성에 따른 위험상황을 설명하는 연구를 수행하고, 위험구간 감지 및 위험한 운전행태의 감지를 통한 사고예방에 활용될 수 있을 것으로 판단되며, 이를 통하여 위험도로 개선 및 교통사고 줄이기 사업을 효율적으로 추진하는 데에 기여할 수 있을 것이다.

앞으로 달리기와 뒤로 달리기 시 하지 커플링각 분석 (Analysis of the Lower Extremity's Coupling Angles During Forward and Backward Running)

  • 류지선
    • 한국운동역학회지
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    • 제16권3호
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    • pp.149-163
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    • 2006
  • The purpose of this study was to compare the lower extremity's joint and segment coupling patterns between forward and backward running in subjects who were twelve healthy males. Three-dimensional kinematic data were collected with Qualisys system while subjects ran to forward and backward. The thigh internal/external rotation and tibia internal/external rotation, thigh flexion/extension and tibia flexion/extension, tibia internal/external rotation and foot inversion/eversion, knee internal/external rotation and ankle inversion/eversion, knee flexion/extension and ankle inversion/eversion, knee flexion/extension and ankle flexion/extension, and knee flexion/extension and tibia internal/external rotation coupling patterns were determined using a vector coding technique. The comparison for each coupling between forward and backward running were conducted using a dependent, two-tailed t-test at a significant level of .05 for the mean of each of five stride regions, midstance(1l-30%), toe-off(31-50%), swing acceleration(51-70%), swing deceleration(71-90), and heel-strike(91-10%), respectively. 1. The knee flexion/extension and ankle flexion/extension coupling pattern of both foreward and backward running over the stride was converged on a complete coordination. However, the ankle flexion/extension to knee flexion/extension was relatively greater at heel-strike in backward running compared with forward running. At the swing deceleration, backward running was dominantly led by the ankle flexion/extension, but forward running done by the knee flexion/extension. 2. The knee flexion/extension and ankle inversion/eversion coupling pattern for both running was also converged on a complete coordination. At the mid-stance. the ankle movement in the frontal plane was large during forward running, but the knee movement in the sagital plane was large during backward running and vice versa at the swing deceleration. 3. The knee flexion/extension and tibia internal/external rotation coupling while forward and backward run was also centered on the angle of 45 degrees, which indicate a complete coordination. However, tibia internal/external rotation dominated the knee flexion/extension at heel strike phase in forward running and vice versa in backward running. It was diametrically opposed to the swing deceleration for each running. 4. Both running was governed by the ankle movement in the frontal plane across the stride cycle within the knee internal/external rotation and tibia internal/external rotation. The knee internal/external rotation of backward running was greater than that of forward running at the swing deceleration. 5. The tibia internal/external rotation in coupling between the tibia internal/external rotation and foot inversion/eversion was relatively great compared with the foot inversion/eversion over a stride for both running. At heel strike, the tibia internal/external rotation of backward running was shown greater than that of forward(p<.05). 6. The thigh internal/external rotation took the lead for both running in the thigh internal/external rotation and tibia internal/external rotation coupling. In comparison of phase, the thigh internal/external rotation movement at the swing acceleration phase in backward running worked greater in comparison with forward running(p<.05). However, it was greater at the swing deceleration in forward running(p<.05). 7. With the exception of the swing deceleration phase in forward running, the tibia flexion/extension surpassed the thigh flexion/extension across the stride cycle in both running. Analysis of the specific stride phases revealed the forward running had greater tibia flexion/extension movement at the heel strike than backward running(p<.05). In addition, the thigh flexion/extension and tibia flexion/extension coupling displayed almost coordination at the heel strike phase in backward running. On the other hand the thigh flexion/extension of forward running at the swing deceleration phase was greater than the tibia flexion/extension, but it was opposite from backward running. In summary, coupling which were the knee flexion/extension and ankle flexion/extension, the knee flexion/extension and ankle inversion/eversion, the knee internal/external rotation and ankle inversion/eversion, the tibia internal/external rotation and foot inversion/eversion, the thigh internal/external rotation and tibia internal/external rotation, and the thigh flexion/extension and tibia flexion/extension patterns were most similar across the strike cycle in both running, but it showed that coupling patterns in the specific stride phases were different from average point of view between two running types.

공작기계의 이송계 제어 시스템의 최적화 (Optimization of Motion Control System on the Machine Tool)

  • 박인준;곽경남;백형래
    • 전력전자학회:학술대회논문집
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    • 전력전자학회 1997년도 전력전자학술대회 논문집
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    • pp.336-340
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    • 1997
  • This paper is a study about motor technic of motion and feedforward control in order to shape cutting control on the machine tool. The shape error caused by delay of the servo system in the direction of radius at the time of circular cutting is reduced by feedforward control, shape error generated by the position command delay is minimized by using the acceleration/deceleration time constant after the interpolation. The study was verified to optimization of motion control on experiments of a vertical machining center of the machine tool.

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자기 부상 열차용 리니어모터의 슬립 주파수 제어에 관한 연구 (A study on the slip frequency control of linear induction motor for magnetic levitation transit)

  • 임달호;김규탁;김영관
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1991년도 하계학술대회 논문집
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    • pp.135-138
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    • 1991
  • In this study, a variety of characteristics is considered when LIM for transit is driven with acceleration and deceleration. From the characteristics of constant voltage, with V/f ratio fixed, slip frequency is derived. With slip frequency of 12[Hz] and objective velocity of 40[km/h], the robust control characteristics which are generated constant thrust and normal force, except for open-loop control interval, are obtained.

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전동차용 IGBT형 추진제어장치의 본선시험에 관한 연구 (A Study On Field Test of IGBT Type Propulsion System for Electric Locomotive)

  • 박건태
    • 전력전자학회:학술대회논문집
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    • 전력전자학회 2000년도 전력전자학술대회 논문집
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    • pp.576-580
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    • 2000
  • This paper describes about the field test of IGBT VVVF inverter for the propulsion system. The 1650kV class IGBT VVVF inverter has been developed. Therefore the field test is performed in SMG 6 Line to confirm its the reliability and performance. The train consists of 4M4T and the electrical equipment for field test are as follows : VVVF inverter 4 sets 16 traction motors and 3 SIVs The propulsion system which have the excellent acceleration/deceleration and the jerk chracteristics as well as starting ability on slope are taken through the field test.

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연단속 용접 주행로봇의 개발 (Development of Continuous/Intermittent Welding Mobile Robot)

  • 강치정;전양배;감병오;신승화;김상봉
    • 대한용접접합학회:학술대회논문집
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    • 대한용접접합학회 2000년도 특별강연 및 추계학술발표대회 개요집
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    • pp.31-33
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    • 2000
  • Welding processing is used in the various industrial fields such as shipbuilding, car, airplane and steel structure, etc.. But the welding process has a bad working condition and lack of skillful worker. The welding depended on man power causes low productivity and difficulty in keeping continuous and stable quality control. This paper shows the development results of welding mobile robot with the several functions such as continuous/intermittent welding, initial welding speed control, acceleration control, crater and deceleration speed control in welding end. The robot is developed based on microprocess which is intel 80c196kc.

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