• 한국자동차공학회논문집
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• 제7권8호
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• pp.172-179
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• 1999

This paper presents a simple but effective DYC algorithm which enhances vehicle lateral stability by using an anti=lock brake system (ABS). In the proposed algorithm, only the front outer wheel is controlled during cornering maneuver instead of controlling all four wheels because the wheel has the largest role in DYC and it is easy and simple to control the only one wheel. An ABS Hardware - In -The -Loop Simulation ( HILS) system that may be used to realistically test real vehicle dynamic behavior in a lab is used for evaluating the proposed DYC algorithm in severe situations where a vehicle is destabilized without DYC . The HILS results show that the proposed DYC algorithm has the potential of maintaining vehicle stability in some dangerous situations.

• 한국자동차공학회논문집
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• 제6권2호
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• pp.1-11
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• 1998

The 4WS system is usually developed to improve the maneuverability at low speed and the straight line stability at high speed, but it is found to have the severe understeer characteristics at high speed. Therefore a 4WS vehicle requires to turn the steering wheel much more than a 2WS vehicle at high speeds even a driver goes through the same curved road. In this study, to enhance the cornering performance of the 4WS vehicle at high speed, a DYC 4WS system is proposed based on the nonlinear 4WS system and direct yaw moment control system. Especially the proposed DYC 4WS system is able to realize a zero side slip angle for vehicles and a cornering performance similar to the 2WS vehicle at high speed.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2013년도 추계학술대회 논문집
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• pp.69-70
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• 2013

By using differential force between left and right wheel, lateral motion can be controlled known as Direct Yaw-moment Control (DYC). In previous researches, DYC control is proposed to increase the stability of the vehicle, but maneuverability has not been discussed sufficiently. The car handling condition which is called the index parameter of maneuverability is dependent on the vehicle velocity and steering angle. To achieve the desired vehicle's cornering path, the car handling condition must be considered sufficiently. In this paper, the novel DYC method is proposed which gives the car handling condition regardless of the longitudinal speed. The proposed controller is based on the PI controller to feedback the curvature parameter. The controlled system shows the advantages of DYC regarding to the reference trajectory by the dual motor system. With respect to the uncontrolled model, the effectiveness of the proposed method is validated by numerical examples.

• International Journal of Automotive Technology
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• 제7권7호
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• pp.821-826
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• 2006

This paper describes a rollover index (RI)-based rollover mitigation control (RMC) system. A rollover index which indicates an impending rollover has been developed by a roll dynamics phase plane analysis. The rollover index is calculated using the roll angle, the roll rate, the lateral acceleration and time to wheel lift (TTWL). A differential braking control law based on a 2-D bicycle model has been designed using the direct yaw control (DYC) method. An RMC threshold has been determined from the rollover index. The performance of the RMC scheme and the effectiveness of the proposed rollover index are illustrated using a vehicle simulator.

• 한국자동차공학회논문집
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• 제7권5호
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• pp.240-248
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• 1999

This paper presents a lane-change collision avoidance control algorithm for autonomous vehicles that will be used in AHS(Automated Highway System). In the proposed control algorithm, nominal control inputs are generated by solving the inverse vehicle dynamic equations of motion for a lane-change maneuver. In addition, a corrective steering input from preview as well as DYC (Direct Yaw Moment Control) may be included to reduce unpredictable errors and to insure yaw directional stability, respectively. The performance of the algorithm is evaluated with an ABS HILS system which consist of 17 DOF vehicle model and real ABS hardware parts. The HILS simulation results show that the proposed algorithm may be used for emergency lane-change maneuvers for autonomous vehicles.

• 한국자동차공학회논문집
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• 제13권1호
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• pp.83-89
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• 2005

This paper presents vehicle stability control algorithm based on 3-DOF vehicle model. The brake control inputs have been directly derived from the sliding control law based on a three degree of freedom plane vehicle model with differential braking. The simulation has performed using a full nonlinear 3-dimensional vehicle model and the performance of the controller has been compared to that of a direct yaw moment controller. Simulation results show that the proposed controller can provide a vehicle with better performance than conventional controller with respect to brake actuation without compromising stability at critical driving conditions.

• 한국자동차공학회논문집
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• 제8권5호
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• pp.165-172
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• 2000

The VDC(Vehicle Dynamic Control) is a control system whose target is to improve stability of a vehicle under lateral motion. A lateral vehicle motion, especially on a slippery road, can lead to a hazardous situation, and the situation can even worsen by the driver`s inappropriate response. In this paper, two VDC systems, a fuzzy-based controller and an LQR-based controller have been developed. The controllers take as input the yaw rate and the sideslip angle of either body or rear wheel, and they yield the direct yaw moment signal by which the vehicle can gain stability during cornering. Simulations have been conducted to evaluate the performance of the control system. The results indicated that the controllers can successfully improve vehicle stability under potentially dangerous driving conditions.

• 한국군사과학기술학회지
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• 제13권6호
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• pp.958-966
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• 2010

In this paper, we have proposed a integrated dynamic control architecture in 6WD(wheel drive)/6WS(wheel steering) vehicle for military applications. Since 6WD/6WS vehicle has inherent redundancy, the input variables to make any desired vehicle motion can not be determined uniquely. Therefore, optimal distribution method of tire forces is introduced, which is based on workload of each tire. Simulation result shows that this is effective for the energy minimization and dynamic performance enhancement. We also suggest how the integrated control with any failure mode should be reconstructed.

• 한국식품조리과학회지
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• 제29권6호
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• pp.699-707
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• 2013

본 연구는 대두청국장, 약콩청국장 및 흑미, 흑임자, 다시마와 같은 블랙푸드를 첨가한 약콩청국장이 STZ으로 유도된 당뇨 쥐의 간 기능과 지질조성에 미치는 영향을 비교한 후, 당뇨병과 같은 생활 습관병의 예방과 합병증을 낮추기 위한 식이요법으로 블랙푸드로 만든 청국장식이 섭취에 대한 근거 자료를 마련 할 목적으로 실시하였다. 실험군으로는 정상식이군(Control), 당뇨 정상식이군(Diabetic), 당뇨 대두청국장 식이군(DSC), 당뇨 약콩청국장 식이군(DYC), 그리고 당뇨 블랙푸드를 첨가한 약콩청국장 식이군(DYCB)로 나누어 7주간 실험식이를 공급 한 후 혈청과 간 조직 내 간 기능 지표 및 지질조성을 조사하였다. 그 결과 정상 쥐에 비해 당뇨 쥐의 일일 체중 증가량과 사료효율이 감소되었으며, 이때 식이로 공급한 청국장식이 공급은 아무런 영향을 미치지 못하였다. 간 기능 지표로 GOT와 GPT 활성 모두 정상 쥐에 비해 당뇨 쥐에서 p<0.05 수준에서 유의적으로 높았으나, 청국장식이 공급으로 높아진 활성을 조절할 수 있었다. 총 빌리루빈 함량은 역시 정상 쥐에 비해 당뇨 쥐에서 p<0.05 수준에서 유의적으로 증가되었으나 약콩청국장 및 블랙푸드가 첨가된 약콩청국장 식이의 공급으로 낮출수 있었다. 또한 정상 쥐에 비해 당뇨 쥐에서 p<0.05 수준에서 유의적으로 고지혈 증상과 동맥경화 및 심혈관계 위험지수가 증가된 반면에 HDL-콜레스테롤과 인지질 함량의 감소를 보였다. 그러나 청국장식이 공급으로 다소 호전된 결과를 얻었다. 특히 간 조직 내 중성지질과 총 콜레스테롤 함량과 동맥경화 및 심혈관계 위험지수 조절은 대두 청국장에 비해 블랙푸드로 만든 청국장이 더 효과적인 것으로 나타났으며, 약콩청국장과 블랙푸드를 첨가한 약콩청국장 사이에는 유의적인 차이는 없었다. 따라서 당뇨에 의해 유발 될 수 있는 간 기능, 고지혈증 그리고 동맥경화 및 심혈관계 위험지수 개선에 블랙푸드로 만든 청국장분말 식이 섭취가 다소 도움을 줄 것으로 여겨진다.

• 한국자동차공학회논문집
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• 제19권2호
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• pp.1-11
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• 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.