• 로봇학회논문지
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• 제15권3호
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• pp.221-232
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• 2020

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

• 한국자동차공학회논문집
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• 제15권6호
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• 한국자동차공학회논문집
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• 제22권1호
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• pp.65-70
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• 2014

An Integrated Dynamics Control system with four wheel Steering (IDCS) is proposed and analysed in this study. It integrates and controls steer angle of front and rear wheel simultaneously to enhance lateral stability and steerability. An active front steer (AFS) system and an active rear steer (ARS) system are also developed to compare their performances. The systems are evaluated during brake maneuver and several road conditions are used to test the performances. The results showed that IDCS vehicle follows the reference yaw rate and reduces side slip angle very well. AFS and ARS vehicles track the reference yaw rate but they can not reduce side slip angle. On split-${\mu}$ road, IDCS controller forces the vehicle to go straight ahead but AFS and ARS vehicles show lateral deviation from centerline.

• 한국자동차공학회논문집
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• 제5권1호
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• pp.110-119
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• 1997

Four wheel steering(4WS) systems which can control the lateral and yaw motions of vehicles by steering front and rear wheels simultaneously, have been regarded as effective for improving the stability and handing performance of vehicles. However, since the 4WS systems depend only on the lateral force of tire, they have some limitation due to the nonlinear characteristics of tire related with the saturation phenomenon of lateral force to the slip angle of tire in a near-limit-performance maneuvering range. In this study, in other to evaluate the effect of nonlinear characteristics of tire on the dynamic performance of vehicles, a new concept for driving the cornering stiffness of nonlinear tire by using the "Magic Formula" tire model is proposed. In addition, the nonlinear 4WS vehicle model is constructed based on the proposed cornering stiffness of nonlinear tire. It is noted from simulation that the nonlinear characteristics of tire affect greatly on the 4WS vehicle performance.rformance.

• 한국자동차공학회논문집
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• 제5권3호
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• pp.209-219
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• 1997

A fuzzy driver model based on a preview-predictor and yaw rate is developed. The model is used to investigate the handling performance of two wheel steering system(2WS) and four wheel steering system(4WS) vehicles. The two degree-of- freedom model which has yaw and lateral motion predicts the path of the vehicles. Based upon the yaw rate and lateral deviations, the fuzzy engine describes the human driver's complicated control behavior which is adjusted for the driving environment. Both typical single lane change maneuver and double lane change maneuver are adopted to demonstrate the feasibility of fuzzy driver model.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 정기총회 및 추계학술대회 논문집 학회본부
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• pp.151-153
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• 1993

This paper proposes a novel motor drive system for the electric vehicle. In this paper, four-wheel-direct-drive type electric vehicle system is designed and the theoretical and experimental analysis of the system is investigated. The concept of steering not with steering the wheels but with the difference of the motor torque fives the flexibility of the vehicle design and, allows the omission of the differential gear, transmission gear, and drive axles. Thus the proposed system gives the space between wheels and improves the driver's steering performance.

• Journal of Biosystems Engineering
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• 제43권4호
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• pp.273-284
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• 2018

Purpose: Conventional headland turning typically requires repeated forward and backward movements to move the farming equipment to the next row. This research focuses on developing an upland agricultural robot with an optimized headland turning mechanism that enables a $180^{\circ}$ turning positioning to the next row in one steering motion designed for a two-wheel steering, four-wheel drive agricultural robot named the HADA-bot. The proposed steering mechanism allows for faster turnings at each headland compared to those of the conventional steering system. Methods: The HADA-bot was designed with 1.7-m wide wheel tracks to travel along the furrows of a garlic bed, and a look-ahead path following algorithm was applied using a real-time kinematic global positioning system signal. Pivot turning tests focused primarily on accuracy regarding the turning radius for the next path matching, saving headland turning time, area, and effort. Results: Several test cases were performed by evaluating right and left turns on two different surfaces: concrete and soil, at three speeds: 1, 2, and 3 km/h. From the left and right side pivot turning results, the percentage of lateral deviation is within the acceptable range of 10% even on the soil surface. This U-turn scheme reduces 67% and 54% of the headland turning time, and 36% and 32% of the required headland area compared to a 50 hp tractor (ISEKI, TA5240, Ehime, Japan) and a riding-type cultivator (CFM-1200, Asia Technology, Deagu, Rep. Korea), respectively. Conclusion: The pivot turning trajectory on both soil and concrete surfaces achieved similar results within the typical operating speed range. Overall, these results prove that the pivot turning mechanism is suitable for improving conventional headland turning by reducing both turning radius and turning time.

• 한국자동차공학회논문집
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• 제5권3호
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• pp.76-85
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• 1997

The understeer characteristics of four wheel steering system(4WS system) in a high speed region have a negative effect upon the yaw velocity, leading to a decrease in the handling ability of vehicle. As a result, even if the side slip angle of vehicle can be kept up a minimum, a driver must compensate a decrease in yaw velocity by increasing the steering wheel angle in order to track the desired vehicle path. In this study, to keep the side slip angle of vehicle at zero and achieve a suitable yaw velocity in vehicle motion, a full active 4WS system(FA 4WS system) with actively steerable front and rear wheels is presented based on a nonlinear vehicle model and a model following control of yaw velocity. And the analysis results show the fat that, besides the excellent stability of vehicle, the FA 4WS system is able to realize better handling performance of vehicle than the previous 4WS systems in the high speed region.

• 한국CDE학회논문집
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• 제3권1호
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• pp.40-47
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• 1998

Recently, the various driving simulator have been used widely to analyze the handling performance of vehicle and to verify the motion control algorithm of vehicle. In this study, a virtual driving simulator based on the 20-DOF vehicle model is realized to estimate the handling performance and stability of a 4WS (Four-wheel-steering) and/or 4n(Four-wheel-driving) vehicle. Especially the DC motor controlled 4WS actuator is modelled in order to reflect the effect of the responsiveness of actuator on the handling performance and stability. And the realized simulator can be applied to develope a real time simulation system for designing and testing the real vehicles.

• Transactions on Control, Automation and Systems Engineering
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• 제3권2호
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• pp.71-76
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• 2001

This paper deals with an estimation method for sideslip angle by using an unknown disturbance observation technique in 4WS passenger car systems. Firstly, a 4WS vehicle model with 3DOF is derived under the constant velocity and same tyres properties. The vehicle dynamics is transformed into the linear state space model with considering the external disturbances. Secondly, and unknown disturbance observer is introduced and its property which estimating the states of system without any disturbance information is shown. Lastly, the estimated sideslip angle of the 4WS vehicle system is verified through numerical simulation.