• Title/Summary/Keyword: Cornering Acceleration

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Near-Minimum-Time Cornering Trajectory Planning and Control for Differential Wheeled Mobile Robots with Motor Actuation Voltage Constraint (차륜 이동 로봇의 모터 구동 전압 제한 조건을 고려한 코너링(cornering) 모션의 최소 시간 궤적 계획 및 제어)

  • Byeon, Yong-Jin;Kim, Byung-Kook
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.9
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    • pp.845-853
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    • 2012
  • We propose time-optimal cornering motion trajectory planning and control algorithms for differential wheeled mobile robot with motor actuating voltage constraint, under piecewise constant control input condition. For time-optimal cornering trajectory generation, 1) we considered mobile robot's dynamics including actuator motors, 2) divided the cornering trajectory into one liner section, followed by two cornering section with angular acceleration and deceleration, and finally one liner section, and 3) formulated an efficient trajectory generation algorithm satisfying the bang-bang control principle. Also we proposed an efficient trajectory control algorithm and implemented with an X-bot to prove the performance.

Efficient Minimum-Time Cornering Motion Planning for Differential-Driven Wheeled Mobile Robots with Motor Control Input Constraint (모터 제어 입력 제한 조건이 고려된 차륜 이동 로봇을 위한 효율적인 최소 시간 코너링(Cornering) 주행 계획)

  • Kim, Jae-Sung;Kim, Byung-Kook
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.1
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    • pp.56-64
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    • 2013
  • We propose an efficient minimum-time cornering motion planning algorithms for differential-driven wheeled mobile robots with motor control input constraint, under piecewise constant control input sections. First, we established mobile robot's kinematics and dynamics including motors, divided the cornering trajectory for collision-free into one translational section, followed by one rotational section with angular acceleration, and finally the other rotational section with angular deceleration. We constructed an efficient motion planning algorithm satisfying the bang-bang principle. Various simulations and experiments reveal the performance of the proposed algorithm.

A Study on the Effects of Suspension Design Parameters on Cornering Performances of a Vehicle (차량의 선회성능에 미치는 현가장치 설계인자의 영향에 관한 연구)

  • 이장무;윤중락;강주석;정종혁;탁태오
    • Transactions of the Korean Society of Automotive Engineers
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    • v.4 no.4
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    • pp.27-37
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    • 1996
  • In this paper the effects of suspension design parameters on the steady-state cornering performance of vehicles are studied. To investigate the understeer characteristics of vehicles, steady-state cornering equatons are derived from a two-track model which is expanded from a simple one track model. The effects of the suspension design parameters as well as those of lateral load transfer are taken into consideration. To verify the equation, a skid pad test was carried out with a domestic passenger car. The design parameters of the vehicle are measured using a Suspension Parameter Measuring Device(SPMD). Based on these results, parameter studies are carried out to determine the effect of design parameters on the cornering performance of a vehicle, both in low and high acceleration region.

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Dynamic Analysis and Optimization of 1ton Commercial Truck Using ADAMS/Insight (ADAMS/Insight를 이용한 1톤 상용트럭의 동역학 해석 및 최적화)

  • Chun, Hung-Ho;Tak, Tae-Oh
    • Journal of Industrial Technology
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    • v.23 no.A
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    • pp.15-20
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    • 2003
  • Stochastic simulation technique has advantages over deterministic simulation in various engineering analysis, since stochastic simulation can take into consideration of scattering of various design variables, which is inherent characteristics of physical world. In this work, Monte-Carlo simulation mothod in ADAMS/Insight for steady-state cornering and J-turn behavior of a truck with design variables like hard points and busing stiffnesses have performed to achieve better dynamic performance. The main purpose is to improve understeer gradient at steady-state cornering and minimize peak lateral acceleration and peak yaw rate at J-turn. Through correlation analysis, design variables that have high impacts on the cornering behavior were selected, and significant performance improvement has been achieved by appropriately changing the high impact design variables.

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Stochastic Analysis for Vehicle Dynamics using the Monte-Carlo Simulation (Monte-Carlo 시뮬레이션을 이용한 확률적 차량동역학 해석)

  • Tak, Tae-Oh;Joo, Jae-hoon
    • Journal of Industrial Technology
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    • v.22 no.B
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    • pp.3-12
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    • 2002
  • Monte-Carlo simulation technique has advantages over deterministic simulation in various engineering analysis since Monte-Carlo simulation can take into consideration of scattering of various design variables, which is inherent characteristics of physical world. In this work, Monte-Carlo simulation of steady-state cornering behavior of a truck with design variables like hard points and busing stiffness. The purpose of the simulation is to improve understeer gradient of the truck, which exhibits a small amount of instability when the lateral acceleration is about 0.4g. Through correlation analysis, design variables that have high impacts on the cornering behavior were selected, and significant performance improvement has been achieved by appropriately changing the high impact design variables.

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Dynamic Performance Analysis for 4WD/4WS Electric-driven Vehicles (4WD/4WS 전기 구동 차량의 동역학적 성능 해석)

  • 김준영;계경태;박건선;허건수;장경영;오재응
    • Transactions of the Korean Society of Automotive Engineers
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    • v.4 no.2
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    • pp.209-220
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    • 1996
  • In this paper, dynamic performance of 4WD/4WS Electric-driven vehicles is investigated. A coupled dynamic model is introduced for longitudinal, lateral and yawing motion of 4WD/4WS vehicles. Based on the coupled model, dynamic performance is analyzed for steady-state steering, acceleration steering and brake steering, respectively. These non steady-state cornering analysis is important for non-paved road maneuvering, trajectory projection for armored vehicle and future AVCS(Advanced Vehicle Control System) technology. Simulation results are obtained based on a simulink module for the introduced model.

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Brake Steering Analysis of Electric-driven Special-purpose Vehicles (전기구동 특수차량의 제동 조향 성능 해석)

  • 박건선;김준영;허건수;장경영;오재응
    • Transactions of the Korean Society of Automotive Engineers
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    • v.5 no.4
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    • pp.29-38
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    • 1997
  • In this paper, brake steering performance of electric-driven special-purpose vehicles is investigated. A 14 DOF model is developed considering nonlinear character- istics of the suspension and tire. Based on the model, cornering performance is analyzed for brake steering, acceleration steering and pivoting, respectively. Simulation results are obtained based on the developed SIMULINK module. This analysis about the non steady state cornering performance is particularly important for armored vehicles because the projected route of the vehicle at emergency should be predicted accuracy.

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Lateral Stability Control for Rear Wheel Drive Vehicles Using Electronic Limited Slip Differential (전자식 차동 제한장치를 이용한 후륜구동 차량의 횡방향 안정성 제어)

  • Cha, Hyunsoo;Yi, Kyongsu
    • Journal of Auto-vehicle Safety Association
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    • v.13 no.3
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    • pp.6-12
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    • 2021
  • This paper presents a lateral stability control for rear wheel drive (RWD) vehicles using electronic limited slip differentials (eLSD). The proposed eLSD controller is designed to increase the understeer characteristic by transferring torque from the outside to inside wheel. The proposed algorithm is devised to improve the lateral responses at the steady state and transient cornering. In the steady state response, the proposed algorithm can extend the region of linear cornering response and can increase the maximum limit of available lateral acceleration. In the transient response, the proposed controller can reduce the yaw rate overshoot by increasing the understeer characteristic. The proposed algorithm has been investigated via computer simulations. In the simulation results, the performance of the proposed controller is compared with uncontrolled cases. The simulation results show that the proposed algorithm can improve the vehicle lateral stability and handling performance.

Linearized Dynamic Analysis of a Four-Wheel Steering Vehicle (Bicycle 모델을 이용한 4륜 조향 차량의 동력학 해석)

  • Lee, Y.H.;Kim, S.I.;Suh, M.W.;Son, H.S.;Kim, S.H.
    • Transactions of the Korean Society of Automotive Engineers
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    • v.2 no.5
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    • pp.101-109
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    • 1994
  • Recently, four-wheel steering systems have been developed and studied as one of the latest automotive technologies for improving the handling characteristics of a vehicle. In much of the proposed four-wheel steering systems, the side slip angle at the vehicle's center of gravity is maintained at zero. This approach allows the greater maneuverability at low speed by means of counter-phase rear steering and the improved stability at high speed through same-phase rear steering. In this paper, the effects of several four-wheel steering systems are studied and discussed on the responsiveness and stability of the vehicle by using the linear analysis. Especially, the effects of the cornering stiffnesses of both front and rear wheels are investigated on the yaw velocity gain and critical speed of the vehicle.

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Classification of Tire Tread Wear Using Accelerometer Signals through an Artificial Neural Network (인공신경망을 이용한 가속도 센서 기반 타이어 트레드 마모도 판별 알고리즘)

  • Kim, Young-Jin;Kim, Hyeong-Jun;Han, Jun-Young;Lee, Suk
    • Journal of the Korean Society of Industry Convergence
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    • v.23 no.2_2
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    • pp.163-171
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    • 2020
  • The condition of tire tread is a key parameter closely related to the driving safety of a vehicle, which affects the contact force of the tire for braking, accelerating and cornering. The major factor influencing the contact force is tread wear, and the more tire tread wears out, the higher risk of losing control of a vehicle exits. The tire tread condition is generally checked by visual inspection that can be easily forgotten. In this paper, we propose the intelligent tire (iTire) system that consists of an acceleration sensor, a wireless signal transmission unit and a tread classifier. In addition, we also presents classification algorithm that transforms the acceleration signal into the frequency domain and extracts the features of several frequency bands as inputs to an artificial neural network. The artificial neural network for classifying tire wear was designed with an Multiple Layer Perceptron (MLP) model. Experiments showed that tread wear classification accuracy was over 80%.