• 대한전기학회논문지
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• 제41권5호
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• pp.562-572
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• 1992

In this paper, we propose software algorithms which provide acceleration/deceleration characteristics essential to high dynamic performance at the transient states where industrial robots or CNC machine tools start and stop. Software acceleration/deceleration methods are derived from the mathematical analyses of typical hardware systems controlling acceleration/deceleration. These methods make servo motors, which drive axes of motion, start and stop smoothly without vibration in the repeated tools. The path error, which is one of the most significant factors in the performance evaluation of industrial robots or CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in case of circular interpolation. The analyses show that path error consists of the distance between the required path and generated one through acceleration/deceleration, and that between the generated one through acceleration/deceleration algorithm and the actual one of the end effector of the industrial robot or tool of the CNC equipment.

• 한국도로학회논문집
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• 제15권6호
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• pp.103-111
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• 2013

PURPOSES : Previous Speed Profile reflects the patterns of speeds in sections of tangents to curves in the roads. However these patterns are uniform of speeds and Acceleration/Deceleration. In oder to supplement these shortcomings. this study made a new profile which can contain factors of Acceleration/Deceleration through theories of Previous Speed Profiles. METHODS : For sakes, this study developed the speed prediction model of Rural Multi-Lane Highways and calculated Acceleration/Deceleration by appling a Polynomial model based on developed speed prediction model. Polynomial model is based on second by second. Acceleration/Deceleration Profile is developed with the various scenarios of road geometric conditions. RESULTS : The longer an ahead tangent length is, The higher an acceleration rate in curve occurs due to wide sight distance. However when there are big speed gaps between two curves, the longer tangent length alleviate acceleration rate. CONCLUSIONS : Acceleration/Deceleration Profile can overview th patterns of speeds and Accelerations/Decelerations in the various road geometric conditions. Also this result will help road designer have a proper guidance to exam a potential geometric conditions where may occur the acceleration/deceleration states.

• 한국도로학회논문집
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• 제15권4호
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• pp.147-154
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• 2013

PURPOSES: To analyze the specific factors of drivers behaviors that amount of cause the greenhouse gas emissions per vehicle. METHODS: Drivers behaviors at intersections are analyzed on the conditions of acceleration and deceleration. RESULTS : First, it is resulted greenhouse gas emissions per vehicle is produced more at intersections than at the main lines of highway. Second, it is resulted that the average speed, the average acceleration rate and the maximum speed are three major factors to produce greenhouse gas per vehicle in acceleration sections. Third, it is resulted that rapid deceleration 20m before entering intersections is the major factor to produce greenhouse gas per vehicle in deceleration sections. CONCLUSIONS: At intersections, sudden acceleration and deceleration is not good for greenhouse gas emissions. Thus, and the average speed, the average acceleration rate and the maximum speed are the chosen as factors to be controlled for drivers' behavior to reduce vehicles' greenhouse gas at intersections.

• 한국ITS학회 논문지
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• 제17권6호
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• pp.54-66
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• 2018

본 연구에서는 고속도로 졸음쉼터의 진 출입 차량 주행속도 조사를 통해 졸음쉼터 가 감속차로 길이, 설치위치의 종단경사 및 곡선반경이 주행차량에 미치는 영향을 분석하였다. 또한, 졸음쉼터 적정 가 감속차로 길이 산정을 위해, VISSM을 활용하여 진출입부 길이 별 시나리오를 구축하고, 가 감속차로를 이용하는 차량의 개별차량 주행궤적 자료를 추출하여 차량의 감속 및 가속도의 표준 편차를 산출하였다. 주행속도 조사 결과 졸음쉼터 설치위치의 곡선반경 및 종단경사에 따른 속도차이가 있는 것으로 나타났으며 무엇보다 가 감속차로 길이에 따른 차량 간의 속도차이가 크게 나타났다. 특히 가 감속차로 길이가 짧게 설치된 졸음쉼터의 경우 차량 간의 속도차이가 큰 것으로 조사되었으며 차량이 졸음쉼터 진입 시 충분히 감속을 하지 못하고 진입하거나 졸음쉼터 이용 후 본선 진입 시 충분히 가속을 하지 못한 채로 본선에 진입하는 것으로 조사되어 위험성이 높은 것으로 분석되었다. 가 감속차로 길이에 따른 시뮬레이션 분석결과 진입부의 경우 245m 이상의 감속차로 길이 확보가 필요할 것으로 분석되었으며, 가속차로의 경우 370m 이상으로 설치하였을 때 안전한 진출이 가능한 것으로 분석되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.306-311
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• 1992

We propose software algorithms which provide the characteristics of acceleration/deceleration essential to high dynamic performance at the transient state where industrial robots or CNC machine tools start and stop. The path error, which is one of the most significant factors in performance evaluation of industrial robots and CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in case of circular interpolation. The analysis shows that the path error depends on the acceleration/deceleration routine and the servo control system. In experiments, the entire control algorithm including the proposed acceleration/deceleration algorithms is executed on the motion control system with a floating point digital signal processor(DSP) TMS320C30 as a CPU. The experimental results demonstrate that the proposed algorithms are very effective in controlling axes of motion of industrial robots or CNC machine tools with the desired characteristics.

• 한국철도학회논문집
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• 제10권5호
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• pp.607-612
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• 2007

본 논문에서는 도시철도 차량의 운전모드에 의한 레일마모 현상을 역행, 타행, 제동 세구간 별로 나누어 레일 마모 현상을 비교 분석하였고, 또한 ATO 로깅데이터에서 실제 운행한 속도데이터를 가속도와 감속도 데이터로 변환하여 열차의 가속도의 견인력과 감속도의 제동력에 의해 발생되는 레일마모량을 비교 분석한 결과로 통해 궤도 관리에 적용할 수 있는 방안을 제시하고자 한다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.667-672
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• 2000

This article presents a new acceleration/deceleration method for real-time control of autonomous mobile robots. In this method, a function which produces the table of acceleration/deceleration in real-time is proposed. This function, while satisfying the basic concept of mechanics, can choose both various ranges of velocity and distance ranges for the selected velocities. Moreover it can control motors with real time. This function is convenient to be realized by programming. and it is faster than other functions because it can be made by assembly language.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.382-386
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• 2002

The tapping is machining process that makes a female screw on the parts to be assembly together. It is used for the high-speed tapping machine with synchronizing function for the high productivity. This paper describes the development of the ultra high-speed tapping machine with 10,000rpm. The key factors in the tapping speed are the acceleration/deceleration velocity and the synchronizing errors between the spindle motor and feeding motor. To minimizing acceleration/deceleration time, the low inertia spindle with synchronous built-in servo motor is developed. To minimizing synchronizing errors, the tapping cycle algorithm under open architecture CNC environment is optimized. The developed tapping machine has 0.13sec/10,000rpm in acceleration/deceleration time and the synchronizing error below 4.0%. It has 0.55sec for cycle time of one female screw, M3 tap, 2 times depth of tap diameter.

• 한국공작기계학회논문집
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• 제10권6호
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• pp.36-41
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• 2001

This article presents a new acceleration/deceleration method for real-time control of autonomous mobile robots. In this method, a function which produces the table of acceleration/deceleration in real-time is proposed. This function, while sat- isfying the basic concept of mechanics, can choose both various ranges of velocity and distance ranges for the selected velocities. Moreover it can control motors in real time. This function is convenient to be realized by programming. In addi- tion, it is faster than other functions because it can be written by assembly language.

• 디지털융복합연구
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• 제18권6호
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• pp.495-500
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• 2020

본 연구는 여자하키 국가대표 선수를 대상으로 GPS를 활용하여 실제 경기에서 측정되는 가속과 감속의 정보를 정량화하여 포지션별로 분류하여 움직임의 차이를 확인하고자 하였다. 본 연구를 위하여 여자하키선수 16명을 대상으로 국제대회에서 측정된 308개의 가속과 감속 데이터를 수집하였다. 연구결과에 의하면 가속 빈도는 미드필드(MF) > 수비수(DF) > 공격수(FW) 순으로 나타났으며, 가속 이동거리는 미드필드 > 공격수 > 수비수 순서로 나타났다. 감속빈도는 미드필드 > 수비수 > 공격수 순으로 나타났으며, 감속 이동거리는 미드필드 > 공격수 > 수비수 순서로 나타났다. 본 연구결과를 바탕으로 하키 선수들의 운동 강도와 운동량 설정 시 기초자료로 활용 될 수 있다.