• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.9 s.180
• /
• pp.2228-2234
• /
• 2000

Steering of the vehicles on a slippery highway is a difficult task for most passenger car drivers. The steering vehicles on slippery roads tend to slide outward with less lateral forces than on nor mal roads. When the drivers notice that their vehicles on a slippery highway start to depart from the cornering lane, most of them make a sudden steering and/or braking, which in turn may induce spin-out and instability on their vehicles. In this paper, an active steering control method is proposed such that the vehicles in slippery roads are steered as if they are driven on the normal roads. In the proposed method, the estimated lateral forces acting on the steering tires are compared with the reference values and the difference is compensated by the active steering method. A fuzzy logic controller is designed for this purpose and evaluated on a steering Hardware-In-the-Loop Simulation (HILS) system. Steering performance results on the slippery curved and sinus roads demonstrate the effectiveness of the proposed controller. This method can be realized with the steer-by-wire concept and is promising as an active safety technology.

• Macromolecular Research
• /
• v.11 no.2
• /
• pp.73-79
• /
• 2003

Generally, field performance of elastomeric track pad components has been poor, especially for the medium to heavy tonnage tracked vehicles, which are operated on the hilly cross-country course. The service life of these track pad, is affected not only by the terrain and environmental conditions but also by the speed, cornering, braking, weight of the vehicle, and the track tread design. In this research, modulus, tearing energy, and the rate of crack propagation of vulcanizates are evaluated by changing base materials to improve the service time of track pad. By increasing the contents of carbon black, modulus, tearing energy, and fatigue crack growth resistance of vulcanizates improved. Compared with the NR vulcanizate, the HNBR vulcanizate had a higher value of tearing energy. The rate of crack propagation of vulcanizates using smaller size carbon black was slower than that using larger size carbon black. When the HNBR was blended with the ZSC, the tearing energy of the vulcanizates was a little reduced because of the high modulus but the crack propagation rate was reduced significantly. In the relation between the crack propagation rate and the strain energy release rate, though up to 100% strain were applied to specimens, the slope on the log scale ($\beta$) varied between 1.72 and 2.3 with the kind of elastomer.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.10
• /
• pp.739-744
• /
• 2017

Elastic deformation and fatigue damage can cause the permanent deformation of a kart's frame during turning, affecting the kart's driving performance. A kart's frame does not contain any suspension or differential devices and, therefore, the dynamic behavior caused by torsional deformation when driving along a curve can strongly affect these two kinds of deformations. To analyze the dynamic behavior of a kart along a curved section, the GPS trajectory of the kart is obtained and the torsional stress acting on the kart-frame is measured in real time. The mechanical properties of leisure and racing karts are investigated by analyzing their material properties and conducting a tensile test. The torsional stress concentration and frame distortion are investigated through a stress analysis of the frame on the basis of the obtained results. Leisure and racing karts are tested in each driving condition using driving analysis equipment. The behavior of a kart when being driven along a curved section is investigated through this test. Because load movement occurs owing to centrifugal force when driving along a curve, torsional stress acts on the kart's steel frame. In the case of a leisure kart, the maximum torsional stress derived from the torsional fatigue limit was found to be 230 MPa, and the torsional fatigue limit coefficient was 0.65 when driving at a speed of 40 km/h. Furthermore, the driving elements during the cornering of a kart were measured based on an actual auto-test after installing a driving measurement system, and the driving behavior of the kart was analyzed by measuring its vertical displacement.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.36 no.11
• /
• pp.1421-1426
• /
• 2012

Cornering maneuvers with reduced body roll and without comfort loss are important requirements for car manufacturers. An electric active roll control(ARC) system controls the body roll angle by using motor-driven actuators installed at the centers of the front and rear stabilizer bars. Co-simulation using the Matlab/Simulink controller model and the CarSim vehicle model was proposed to evaluate the performance of the ARC control algorithm. To validate the performance of the ARC actuator and system, bench tests and vehicle tests were proposed.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.19 no.2
• /
• pp.1-11
• /
• 2011

The skid-steering method that applied a number of mobile robot currently is extremely effective in narrow area. But it contains several problems such as its natural properties, slip, occurred by different direction between vehicle's driving and wheel's rotary. Through this paper, suitable control algorithm of $6{\times}6$ skid steering wheeled vehicle and its driving methods are proposed by analyzing the behavior $6{\times}6$ skid-steered wheeled vehicle model designed by engineering analysis strategy. To do this, based on a behavior of designed driving system, required torque and other performance of in-wheel type motor system are considered, and finally control algorithm for each wheel is proposed and simulated using this model. To test the proposed vehicle system, driver model is designed using PID closed loop system and included in the total driving control algorithm. The Performance of designed vehicle model is verified by using DYC (Direct Yaw Control) cornering mode and slip mode control to follow the steering input which are essential to evaluate the driving performance of $6{\times}6$ vehicle. Proposed modeling strategy and control method will be implemented to the real $6{\times}6$ in-wheel drive type vehicle.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.14 no.4
• /
• pp.174-180
• /
• 2006

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional braking control systems. In order to achieve the superior braking performance through the wheel slip control, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance, stability enhancement, etc. In this paper, a wheel slip control system is developed for maintaining the vehicle stability based on the braking monitor, wheel slip controller and optimal target slip assignment algorithm. The braking monitor estimates the tire braking force, lateral tire force and brake disk-pad friction coefficient utilizing the extended Kalman filter. The wheel slip controller is designed based on the sliding mode control method. The target slip assignment algorithm is proposed to maintain the vehicle stability based on the direct yaw moment controller and fuzzy logic. The performance of the proposed wheel slip control system is verified in simulations and demonstrates the effectiveness of the wheel slip control in various road conditions.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.15 no.10
• /
• pp.5955-5962
• /
• 2014

Generally, the frame design of a vehicle is a critical technology that plays an important role in the racing and high performance sports car market. The high performance of race car frame means that it requires high torsional stiffness because it directly affects the cornering behavior of the race car. The optimal design for the frame of a low-cost single seat race car was carried out using the DOE (Design Of Experiments) with Taguchi's orthogonal array and FEM (Finite Element Method) analysis to secure sufficient torsional stiffness in this paper. According to the results by DOE and FEM analysis, the optimal design case produced improved 10.7% and 14.5% improvement in each stiffness-to-weight ratio and frame weight than in the early design step. Therefore, this paper shows that the optimal design with Taguchi's orthogonal array is very useful and effective for designing a tubular space frame of a low-cost single seat race car in the early design step.

• Journal of Drive and Control
• /
• v.21 no.3
• /
• pp.56-69
• /
• 2024

Tractors are used for farming in harsh terrain such as slopes with slippery fields and steep passages. In these potentially dangerous terrain, steering instability caused by bouncing and sliding can lead to tractor rollover accidents. The center of gravity changes as parts such as engines and transmissions used in existing internal combustion engine tractors are replaced by motors and batteries, and the risk of conduction must be newly considered accordingly. The purpose of this study was to derive the center of gravity of a 55 kW class electric tractor using an electric platform from an existing internal combustion engine tractor, and to numerically investigate the tractor steering instability due to bouncing and sliding. The analysis provides a strong analysis by integrating an elaborate combination of a bouncing model and a sliding model based on Coulomb's theory of friction. Various parameters such as tractor speed, static coefficient of friction, bump length and radius of rotation are carefully analyzed through a series of detailed designs. In particular, the simulation results show that the cornering force is significantly reduced, resulting in unintended trajectory deviations. By considering such complexity, this study aims to secure optimal performance and safety in the challenging terrain within the agricultural landscape by providing valuable insights to improve tractor safety measures.