• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.6
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• pp.86-94
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• 2019

This paper describes the development of unmanned vehicle remote control system which is configured with steering and accelerating/braking hardware to improve the sense of reality and safety of control. Generally, in these case of the remote control system, a joystick-type device is used for steering and accelerating/braking control of unmanned vehicle in most cases. Other systems have been developing using simple steering wheel, but there is no function of that feedback the feeling of driving situation to users and it mostly doesn't include the accelerating/braking control hardware. The technology of feedback means that a reproducing the feeling of current driving situation through steering and accelerating/braking hardware when driving a vehicle in person. In addition to studying feedback technologies that reduce unfamiliarity in remote control of unmanned vehicles, it is necessary to develop the remote control system with hardware that can improve sense of reality. Therefore, in this study, the reliable remote control system is developed and required system specification is defined for applying force-feedback haptic control technology developed through previous research. The system consists of a steering-wheel module similar to a normal vehicle and an accelerating/braking pedal module with actuators to operate by feedback commands. In addition, the software environment configured by CAN communication to send feedback commands to each modules. To verify the reliability of the remote control system, the force-feedback haptic control algorithms developed through previous research were applied, to assess the behavior of the algorithms in each situation.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.12
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• pp.659-663
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• 2002

The brake systems of high-speed train are to be equipped with three different brake systems, such as regenerative brake with regenerative feedback in driving car, a pneumatic disc brake, and non-contact linear eddy-current brake(ECB). The regenerative brake and the pneumatic disc brake are acting on the wheels. Their achievable braking force depends on the adhesive coefficient, which is influenced by the weather condition and speed, between the wheel and The linear eddy current brake gets an economical solution in the high-speed train because of the independence of the adhesive coefficient, no maintenance needed. and the good control characteristics. The braking force and the normal force of ECB for korean high-speed train are analysed by the 2D FEM(Finite Element Method). Finally the normal force is compared with the experiential values to verify the analysis.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.1761-1765
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• 2008

In the braking of a railroad car, mechanical brake systems using wheel tread and brake disk are applied as well as electrical brake systems by regenerator and rheostat. It is very important to consider the frictional characteristic because kinetic energy of the vehicle is dissipated as converted thermal energy through friction between disk and brake pad during disk braking. A friction coefficient and wear characteristic are decided from the interrelationship of disk and friction material in the disk brake system. Lab-scale dynamometer test on developed brake disk materials for increasing heat resistance was performed in this study. Each candidate material was tested at various braking speeds and pressures and we obtained the friction coefficient and wear characteristic. And we executed comparative evaluation of the result from the test.

• Journal of Magnetics
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• v.18 no.3
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• pp.276-282
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• 2013

In this paper, magnetic flux distributions of several permanent magnet arrays, including Halbach array, are analyzed and compared. Also, braking force characteristics on a moving solid conductor in the eddy current brake systems with such magnet arrays are analyzed. Then, a new performance index taking into account the maximum braking force and the volume of the magnet is introduced for the comparison and case study of permanent magnet arrays. By changing the lengths, magnetization directions and the height of the permanent magnet arrays, a higher braking force per volume of the magnet can be achieved.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.4
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• pp.525-533
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• 1998

A conventional contact type brake system which uses a hydraulic system has mny Problems such as time delay response due to pressure build-up, brake pad wear due to contact movement, bulky size, and low braking performance in high speed region. As vehicle speed increases, a more powerful brake system is required to ensure vehicle safety and reliability. In this work, a contactless brake system of an eddy current type is proposed to overcome problems. Optimal torque control which minimizes a braking distance is investigated with a scaled-down model of an eddy current type brake. It is possible to realize optimal torque control when a maximum friction coefficient (or desired slip ratio) corresponding to road condition is maintained. Braking force analysis for a scaled-down model is done theoretically and experimentally compensated. To accomplish optimal torque control of an eddy current type brake system, a sliding mode control technique which is, one of the robust nonlinear control technique is developed. Robustness of the sliding mode controller is verified by investigating the braking performance when friction coefficient is varied. Simulation and experimental results will be presented to show that it has superior performance compared to the conventional method.

• International Journal of Automotive Technology
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• v.8 no.2
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• pp.249-258
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• 2007

This paper proposes a method that can be used for the resistance estimation of a PWM (Pulse Width Modulation)-driven solenoid. By using estimated solenoid resistance, the PWM duty ratio was compensated to be proportional to the solenoid current. The proposed method was developed for use with EHB (Electro-Hydraulic Braking) systems, which are essential features of the regenerative braking system of many electric vehicles. Because the HU (Hydraulic Unit) of most EHB systems performs not only ABS/TCS/ESP (Electronic Stability Program) functions but also service braking function, the possible duration of continuous solenoid driving is so long that the generated heat can drastically change the level of solenoid resistance. The current model of the PWM-driven solenoid is further developed in this paper; from this a new resistance equation is derived. This resistance equation is solved by using an iterative method known as the FPT (fixed point theorem). Furthermore, by taking the average of the resistance estimates, it was possible to successfully eliminate the effect of measurement noise factors. Simulation results showed that the proposed method contained a sufficient pass-band in the frequency response. Experimental results also showed that adaptive solenoid driving which incorporates resistance estimations is able to maintain a linear relationship between the PWM duty ratio and the solenoid current in spite of a wide variety of ambient temperatures and continuous driving.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.115.1-115
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• 2002

This study proposes a new conceptual Hybrid Electric Brake System (HEBS) which overcomes the problems of the conventional hydraulic brake system. The HEBS uses the contactless brake system when vehicle speed is high to obtain superior braking force by eddy current, which is induced in pole area by magnetic flux through a rotating conductive disk. On the contrary, when a vehicle speed is low, contact type brake system such as conventional hydraulic brake system makes higher braking force. HEBS transfers faster a braking intention of drivers and guarantees a safety of drivers because of vehicle dynamic superior controllability. Braking torque analysis is peformed based upon Lee. Barn\ulcornermath...

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.52 no.8
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• pp.397-404
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• 2003

In part I, we studied only step speed control for train, the second part extended to beacon signaling system and moving block system. With the calculated braking distance in part I, part II showed how to reduce headway using the beacon signaling system and moving block system, revealed that the beacon system has a braking distance advantage for sighting allowance with compared to step speed control, proposed beacon installation interval and revealed the braking distance with moving block system being nearly approached to train pure braking distance. We compared three different train control system to decide the best signaling system for a given condition and obtained the result that three systems have a same headway near 10～13 steps speed control.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.535-538
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• 2005

Today, most fixed-wing aircrafts are equipped with the antiskid brake system. It can modulate braking moments in the wheels optimally, when an aircraft is landing. So it can reduce landing distance and increase safeties. The antiskid brake system for an aircraft are mainly composed of braking moment modulators (hydraulic control valves) and brake control unit. In this paper, a Mark IV type - fully digital - brake controller is studied. For the development of its control algorithms, a 5-DOF (Degree of Freedom) aircraft landing model is composed in the form of matlab/simulink model at first. Then, braking moment control algorithms using wheel decelerations and slips are made. The developed algorithms are tested in software simulations using state-flow toolboxes in matlab/simulink model. Also, a real-time simulation systems are made, which use hydraulic brake systems of a real aircraft, pressure control valves and its controller as hardware components of HIL(Hardware In-the-Loop) simulation. Algorithms tested in software simulations are coded into the controller and the real-time landing simulations are made in very severe road conditions. The real-time simulation results are presented.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.898-906
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• 2002

Antilock Brake System (ABS) is designed to prevent wheels from being locked-up under emergency braking of a vehicle. Therefore it improves directional stability of the vehicle, shortens stopping distance, and enhances maneuvering during braking, regardless of road conditions. Hardware In-the-Loop Simulation (HILS) is an effective tool for design Performance evaluation and test of vehicle subsystems such as ABS, active suspension, and steering systems. This paper describes a HILS model for ABS/ ASR(Acceleration Slip Regulation) system applications. A fourteen degrees-of-freedom vehicle dynamics model is simulated in an alpha-chip processor board. The proposed HILS system is tested with a basic ABS control algorithm. The design and implementation of HILS system for the ABS ECU(Electronic Control Unit) development of commercial vehicle are presented. The results show that the proposed HILS system can be used to test the performance, stability, and reliability of a vehicle under braking.