• Journal of Electrical Engineering and Technology
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• v.8 no.4
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• pp.899-910
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• 2013

This paper presents a novel lateral stability control system for electric vehicle based on sideslip angle estimation through Kalman filter using the integration of a single antenna GPS receiver and yaw rate sensor. Using multi-rate measurements including yaw rate and course angle, time-varying parameters disappear from the measurement equation of the proposed Kalman filter. Accurate sideslip angle estimation is achieved by treating the combination of model uncertainties and external disturbances as extended states. Active front steering and direct yaw moment are integrated to manipulate sideslip angle and yaw rate of the vehicle. Instead of decoupling control design method, a new control scheme, "two-input two-output controller", is proposed. The extended states are utilized for disturbance rejection that improves the robustness of lateral stability control system. The effectiveness of the proposed methods is verified by computer simulations and experiments.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.4 s.148
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• pp.460-466
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• 2006

The three-dimensional RANS equations were applied to analyze the flow field of a submarine. To validate the code, the DARPA SUBOFF bare hull and an eliipsoid at angles of attack of $10^{\circ}\;and\;30^{\circ}$ were simulated and good agreement with experiments was obtained. After the code validation, the flows over the full configuration of DARPA SUBOFF model having a fairwater and four stern appendages were simulated at four angles of attack $(0^{\circ},\;10^{\circ},\;20^{\circ},\;30^{\circ})$ and three yaw angles $(10^{\circ},\;20^{\circ},\;30^{\circ})$ Specifically, the pressure contours and streamlines of fairwater and stern appendage were compared as the angle of attack and yaw angle changed. The variations of hydrodynamic forces were also calculated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.12 s.255
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• pp.1551-1556
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• 2006

Two yaw motion control systems that improve a vehicle lateral stability are proposed in this study: a rear wheel steering yaw motion controller (SESP) and an enhanced rear wheel steering yaw motion controller (ESESP). A SESP controls the rear wheels, while an ESESP steers the rear wheels and front outer wheel to allow the yaw rate to track the reference yaw rate. A 15 degree-of-freedom vehicle model, simplified steering system model, and driver model are used to evaluate the proposed SESP and ESESP. A robust anti-lock braking system (ABS) controller is also designed and developed. The performance of the SESP and ESESP are evaluated under various road conditions and driving inputs. They reduce the slip angle when braking and steering inputs are applied simultaneously, thereby increasing the controllability and stability of the vehicle on slippery roads.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1099-1102
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• 1996

In this paper, roll/yaw attitude control of spacecraft using a double gimbaled wheel is discussed with two feedback controllers designed. One is a PD controller with no phase difference between roll and yaw control input. The other is a PD controller with a phase lag compensator about the yaw control input. The phase lag compensator is designed as a first order system and a lag parameter is designed for the yaw angle control. There are two case simulations for each controller ; constant disturbance torques and initial errors of nutation at motion. We obtain the results through simulations that steady-state error and rising time of yaw angle are determined by the compensator. Simulation parameters used in this study are the values of KOREASAT F1.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.7
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• pp.1426-1437
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• 2002

Using the Lagrangian explicit time-integration finite element code NET3D which can treat three-dimensional high-velocity impact problems, oblique penetration processes of long rod projectile with yaw against thin plate are simulated. Through the comparison of simulation result with experimental result and other code's computational result, the adaptability and accuracy of NET3D is evaluated under the complex situation in which yaw angle and oblique angle exist simultaneously. Main research contents to be handled in this paper include the followings. First, the accuracy and efficiency estimation of NET3D code result obtained from the oblique penetration simulations of long rod projectile with yaw against thin plate. Second, the effect of increasing impact velocity. Third, the effect of initial yaw for the spaced-plate target. Residual velocities, residual lengths, angular velocities, and final deformed configurations obtained from the NET3D computations are compared with the experimental results and other code's computational results such as Eulerian code MESA and Lagrangian code EPIC. As a result of comparisons, it has been found that NET3D code is superior to EPIC code and MESA code in the prediction capability of residual velocity and residual length of penetrator. The key features obtained from the experiment can be successfully reproduced through NET3D simulations. Throughout the study, the applicability and accuracy of NET3D as a metallic armor system design tool is verified.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.6
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• Journal of Mechanical Science and Technology
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• v.19 no.8
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• pp.1632-1648
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• 2005

The effects of Reynolds number on the non-nulling calibration of a typical cone-type five-hole probe have been investigated for the representative Reynolds numbers in turbomachinery. The pitch and yaw angles are changed from - 35 degrees to 35 degrees with an angle interval of 5 degrees at six probe Reynolds numbers in range between $6.60{\times}10^3\;and\;3.17{\times}10^4$. The result shows that not only each calibration coefficient itself but also its Reynolds number dependency is affected significantly by the pitch and yaw angles. The Reynolds-number effects on the pitch- and yaw-angle coefficients are noticeable when the absolute values of the pitch and yaw angles are smaller than 20 degrees. The static-pressure coefficient is sensitive to the Reynolds number nearly all over the pitch- and yaw-angle range. The Reynolds-number effect on the total-pressure coefficient is found remarkable when the absolute values of the pitch and yaw angles are larger than 20 degrees. Through a typical non-nulling reduction procedure, actual reduced values of the pitch and yaw angles, static and total pressures, and velocity magnitude at each Reynolds number are obtained by employing the calibration coefficients at the highest Reynolds number ($Re=3.17{\times}10^4$) as input reference calibration data. As a result, it is found that each reduced value has its own unique trend depending on the pitch and yaw angles. Its general tendency is related closely to the variation of the corresponding calibration coefficient with the Reynolds number. Among the reduced values, the reduced total pressure suffers the most considerable deviation from the measured one and its dependency upon the pitch and yaw angles is most noticeable. In this study, the root-mean-square data as well as the upper and lower bounds of the reduced values are reported as a function of the Reynolds number. These data would be very useful in the estimation of the Reynolds-number effects on the non-nulling calibration.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.4
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• pp.361-370
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• 1992

A controller of the hovering VTOL aircraft with four fan is constructed by SRFIMF(State Rate Feedback Implicit Model-Following)theory, in which feedback state are angle acceleration, angle velocity and angle position of the aircraft during hover With yaw control of the system, characteristics of the hovering aircraft can be analyzed by changing states feedback gain and sponse provides robust stable hovering system.

• Journal of Mechanical Science and Technology
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• v.18 no.12
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• pp.2273-2283
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• 2004

The vortical flows over sharp-edged delta wings with and without a leading edge extension have been investigated using a computational method. Three-dimensional compressible Reynolds-averaged Navier-Stokes equations are solved to provide an understanding of the effects of the angle of attack and the angle of yaw on the development and interaction of vortices and the aerodynamic characteristics of the delta wing at a freestream velocity of 20 m/s. The present computations provide qualitatively reasonable predictions of vortical flow characteristics, compared with past wind tunnel measurements. In the presence of a leading edge extension, a significant change in the suction pressure peak in the chordwise direction is much reduced at a given angle of attack. The leading edge extension can also stabilize the wing vortex on the windward side at angles of yaw, which dominates the vortical flows over yawed delta wings.

• Journal of Mechanical Science and Technology
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• v.18 no.6
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• pp.1042-1051
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• 2004

The vortex flow characteristics of a sharp-edged delta wing at high angles of attack were studied using a computational technique. Three dimensional, compressible Reynolds-averaged Navier-Stokes equations were solved to understand the effects of the angle of yaw, angle of attack, and free stream velocity on the development and interaction of vortices and the relationship between suction pressure distributions and vortex flow characteristics. The present computations gave qualitatively reasonable predictions of vortical flows over a delta wing, compared with past wind tunnel measurements. With an increase in the angle of yaw, the symmetry of the pair of leading edge vortices was broken and the vortex strength was decreased on both windward and leeward sides. An increase in the free stream velocity resulted in stronger leading edge vortices with an outboard movement.