• 대한기계학회논문집A
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• 제41권9호
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• pp.869-876
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• 2017

기계시스템을 제어한다든지 그 부재를 설계하기 위하여 그리고 구동기의 용량을 결정하는데 있어서 구동력이나 조인트반력을 해석하는 것이 필요하다. 본 논문은 주어진 시스템의 운동을 구현하는 다양한 형태의 구동조건에 따른 구동력(또는 토크)을 조인트좌표 공간에서 계산하는 알고리즘을 제시한다. 조인트좌표를 기구학적 시스템의 일반좌표로 사용하며 운동방정식과 구속조건의 가속도식은 속도변환법을 이용하여 직교좌표공간으로부터 조인트좌표공간으로 변환한다. 수치예제를 통하여 제시된 알고리즘의 유용성을 확인한다.

• International Journal of Precision Engineering and Manufacturing
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• 제1권2호
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• pp.24-34
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• 2000

In this paper we propose a controller design method, called Quasi-LQG/$H_{\infty}$/LTR for nonlinear servo systems with hard nonlinearities such as Coulomb friction, dead-zone. Introducing the RIDF method to model Coulomb friction and dead-zone, the statistically linearized system is built. Then, we consider $H_{\infty}$ performance constraint for the optimization of statistically linearized systems, by replacing a covariance Lyapunov equation into a modified Riccati equation of which solution leads to an upper bound of the LQG performance. As a result, the nonlinear correction term is included in coupled Riccati equation, which is generally very difficult to thave a numerical solution. To solve this problem, we use the modified loop shaping technique and show some analytic proofs on LTR condition. Finally, the Quasi-LQG/$H_{\infty}$/LTR controller for a nonlinear system is synthesized by inverse random input describing function techniques (ITIDF). It is shown that the proposed design method has a better performance robustness to the hard nonlinearity than LQG/$H_{\infty}$/LTR method via simulations and experiments for the timing-belt driving servo system that contains the Coulomb friction and dead-zone.

• 자동차안전학회지
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• 제15권4호
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• pp.16-22
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• 2023

This paper presents a proactive longitudinal motion planning algorithm for improving the safety of an automated bus. Since the field of view (FOV) of the autonomous vehicle was limited depending on onboard sensors' performance and surrounding environments, it was necessary to implement vehicle-to-vehicle (V2V) communication for overcoming the limitation. After a virtual V2V-equipped target was constructed considering information obtained from V2V communication, the reference motion of the ego vehicle was determined by considering the state of both the V2V-equipped target and the sensor-detected target. Model predictive control (MPC) was implemented to calculate the optimal motion considering the reference motion and the chance constraint, which was deduced from manual driving data. The improvement in driving safety was confirmed through vehicle tests along actual urban roads.

• 대한인간공학회지
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• 제35권5호
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• pp.465-472
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• 2016

Objective:This study is on the characteristics of motorcycle accidents occurring in the mail delivery process by skill level. Background: The tendency of delivery postmen's driving in a hurry may become the cause of accidents since there is a constraint that delivery should be completed within a limited time. Method: This study analyzed the traffic accident data of 259 delivery postmen, who had been approved as occupation-related industrial accident victims from 2009 to 2012, by their work experience in view of season, day of the week of an accident occurrence, accident occurrence time, accident cause, collision type, and driving situation. Results: Accident characteristics of delivery postmen show that the ratio of accidents occurring to those who had less than 10 years of work experience was high. There were many motorcycle collisions in winter and summer by season and an unexpected object, along with road condition, took up 70.7% of the accident sources. There were no differences in accident occurrence time, the day of the week, season, accident source, and collision type between the group of delivery postmen with less than 10 years of work experience and those with 10 years or more of work experience. However, there was a difference in distribution of driving condition. Conclusion and Applications: The results of this study can be used to present the policies or guidelines for the accident prevention of delivery postmen since the results show the characteristics of the injured and accident occurrence characteristics in relation with the delivery postmen's motorcycle collisions.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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• pp.1888-1893
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• 2011

Considering the dynamic performance and stability of railroad vehicles has begun to grab the attention because of developing the high speed train recently. A development based on an analysis of dynamics and verification has to be required to study the stability of vehicle performance. Several ways of analysis were using the look-up table to apply the wheel-rail contact characteristics quickly, whereas there is a constraint of the wheelset lateral displacement. In this study, an development of searching the wheel-rail contact position has been provided. The 2-point contact between wheel and rail during the driving condition can be calculated by numerical analysis. Moreover, a reliability is verified by comparing the result with a commercial program.

• Interaction and multiscale mechanics
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• 제1권2호
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• pp.191-209
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• 2008

In this paper, we model grain boundary evolution based on a multiple level set method. Grain boundary migration under a curvature-induced driving force is considered and the level set method is employed to deal with the resulting topological changes of grain structures. The complexity of using a level set method for modeling grain structure evolution is due to its N-phase nature and the associated geometry compatibility constraint. We employ a multiple level set method with a predictor-multicorrectors approach to reduce the gaps in the triple junctions down to the grid resolution level. A ghost cell approach for imposing periodic boundary conditions is introduced without solving a constrained problem with a Lagrange multiplier method or a penalty method. Numerical results for both uniform and random grain structures evolution are presented and the results are compared with the solutions based on a front tracking approach (Chen and Kotta et al. 2004b).

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1997년도 추계학술대회 논문집
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• pp.304-309
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• 1997

Elastic elements, at first, were extensively used in suspensions as vibration isolators at joints. Nowadays they are used to improve stability and handling. The design of these elements has become a very important matter since the loading condition of the mechanism gives a mew suspension geometry without any modification. This paper presents an analysis of forces and moments of joints with elastic elements in the McPherson suspension mechanism to evaluate accurately the elastic deformation using the displacement matrix method in conjunction with the equilibrium equations. First the suspension is modeled as a multi-loop spatial rigid-body guidance mechanism which has elastic elements at the hardpoints of the suspension. Then a method and design euqations are developed to analyze the suspension characteristics by the various tire load. Also the displacement matrices and constraint equations for links are appllied to determine the sensitivity of the suspension mechanism. Finally this approach may conduct a realistic design of suspension mechanisms with elastic elements to improve the performance of the automobile under various driving conditions.

• International Journal of Automotive Technology
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• 제8권4호
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• pp.445-453
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• 2007

This paper presents a robust controller design approach for improving vehicle dynamic roll motion performance and guaranteeing the closed-loop system stability in spite of vehicle parameter variations resulting from aging elements, loading patterns, and driving conditions, etc. The designed controller is linear parameter-varying (LPV) in terms of the time-varying parameters; its control objective is to minimise the $H_{\infty}$ performance from the steering input to the roll angle while satisfying the closed-loop pole placement constraint such that the optimal dynamic roll motion performance is achieved and robust stability is guaranteed. The sufficient conditions for designing such a controller are given as a finite number of linear matrix inequalities (LMIs). Numerical simulation using the three-degree-of-freedom (3-DOF) yaw-roll vehicle model is presented. It shows that the designed controller can effectively improve the vehicle dynamic roll angle response during J-turn or fishhook maneuver when the vehicle's forward velocity and the roll stiffness are varied significantly.

• 한국자동차공학회논문집
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• 제5권5호
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• pp.73-85
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• 1997

An automatic transmission is an important element of automotive power systems that allows a driving convenience. Compared to a manual transmission, however, it has a few problems in efficiency, shift feel, and maintenance. To improve these, it is imperative to understand the dynamics of automatic transmissions. This paper develops a dynamically-correct model of an automatic transmission, using the bond graph method. The bond graph method is ideally suited for modeling power systems, because the method is based on generalized power variables. The bond graph method is capable of providing correct dynamic constraints and kinematic constraints, as well as the governing differential equations of motion. The bond graph method is applied to 1-4 in-gear ranges, as well as various upshifts and downshifts of an automatic transmission, which allows an accurate simulation of an automatic transmission. Conventional automatic transmission models have no dynamic constraint, which do not allow correct simulation studies.

• 한국정밀공학회지
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• 제16권7호
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• pp.196-202
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• 1999

Recent trend changes a criterion for evaluation of burner that environmental problem is raised as global issue. For efficient driving problem, the higher thermal efficiency and the lower oxygen in exhaust gas, burner is evaluated the better. For environmental problem, burner must satisfy $NO_{X}$ limit and CO limit. Consequently, 'good burner' means on whose thermal efficiency is high under the constraint of $NO_{X}$ and CO consistency. To make existing burner satisfy recent criterion, it is highly recommended to develop feedback control scheme whose output is the consistency of $NO_{X}$ and CO. This paper describes development of real time flame diagnosis technique that evaluate and diagnose combustion state such as consistency of components in exhaust gas, stability of flame in quantitative sense. This study focuses on wave length of luminescence from chemical reaction measurement of the luminescence via optical measuring apparatus and derive correlation with consistency of components in exhaust gas by image processing technique.