• 한국철도학회논문집
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• 제10권4호
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• pp.444-450
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• 2007

The bi-modal tram guided by the magnetic guidance system has two car-bodies and three axles. Each axle of the vehicle has an independent suspension to lower the floor of the car and improve ride quality. The turning radius of the vehicle may increase as a consequence of the long wheel base. Therefore, the vehicle is equipped with the All-Wheel-Steering(AWS) system for safe driving on a curved road. Front and rear axles should be steered in opposite directions, which means a negative mode, to minimize the turning radius. On the other hand, they also should be steered in the same direction, which means a positive mode, for the stopping mode. Moreover, only the front axle is steered for stability of the vehicle upon high-speed driving. In summary, steering angles and directions of the each axle should be changed according to the driving environment and steering mode. This paper proposes an appropriate AWS control algorithm for stable driving of the bi-modal tram. Furthermore, a multi-body model of the vehicle is simulated to verify the suitability of the algorithm. This model can also analyze the different dynamic characteristics between 2WS and AWS.

• 로봇학회논문지
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• 제1권1호
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• pp.73-80
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• 2006

Bicycle is one of convenient transportation system. In this paper, we derive a more precise kinematics of bicycle system compared with other ones which were suggested by other researchers. In the derivation of kinematics we adopted a physical concept called virtual wheel. We also propose an algorithm for deriving inverse kinematics of a bicycle system. In this paper, the meaning of inverse kinematics is to find the time functions of steering angle and driving wheel speed for a given desired path trajectory. From the computer simulation, we show the validity of our proposed algorithm for inverse kinematics of bicycle system.

• 한국공작기계학회논문집
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• 제14권3호
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• pp.110-115
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• 2005

Driving performance is affected by a steering mechanism and characteristics of the ground at off-road skateboarding. In order to drive on off-road, it is necessary off-road wheel and high performance steering mechanism to adapt on various configuration of the ground. In this paper, design factors are studied to affect to steering radius such as inclination angle of a king-bolt, distance of a wheel axle, and rolling angle of a deck plate. A steering system is adhered to inclination face of the deck plate. And, inclination angle is existed between the king-bolt and the flat face of the deck plate. Therefore, the wheel axle of the steering system can be steered by control of the rolling angle of the deck plate.

• 한국생산제조학회지
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• 제8권1호
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• pp.150-157
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• 1999

In this study, the loader was completed that has 4-wheel gear driven drivetrain of study (Ⅰ), the 4-wheel steering with power wheel type, all-wheel traction system, and joy-stick type lever for hydraulic control valve. From driving test of the developed 4WD and 4WS type loader, we obtained that the minimum circling radius and the necessary width in circling motion reduced about 40% and 33% compared with 2WS type loader. Also, all-wheel traction system could keep the tires glued to the ground with greater stability, the power steering allowed a smoother operation, and the joy-stick type lever offered easily to control. Thus, the developed loader having these functions was very fit in a small cattle shed or rugged ground.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.353-360
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• 2010

A skid-steering method which applied to the various mobile robot platforms currently shows its effectiveness in the specified field areas and purposes. This system contains however, several problems of its intrinsic properties such as slippages occurred by different moving direction between vehicle's driving and wheel's rotary and difficulties of driving performance control and so on. This paper deals with the suggestion of suitable control algorithm for 6WD/6WS skid steering wheeled vehicle and verified its feasibility by analyzing the behavior of 6WD/6WS skid-steered wheeled vehicle model and by applying the engineering analytical method to the considered mobile platform. The Performance of vehicle model is evaluated by using slip mode control to follow the steering input and, as a future work, this control algorithm could be applied to real 6WD/6WS in-wheel drive type vehicle finally.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2569-2571
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• 2000

In the vehicle steering system, we can consider two methods to steer the vehicle. One is a front wheel steering(FWS), the other is a four wheel steering(4WS). The four wheel steering method has been recently introduced to improve the steering performance. In this paper, we present a design of the four wheel steering controller. First, we constructed the neural network two degree of freedom PID controller to control the 4WS system. Then we compared the performance of conventional PID controller with our proposed controller in terms of yaw rate and side slip velocity. The computer simulation results show that 4WS system controlled by the proposed controller has well driving performances than the other.

• International journal of advanced smart convergence
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• 제9권3호
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• pp.199-206
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• 2020

A wheelchair is an essential rehabilitation assistant device for the movement of paraplegia patients and generally paralyzed patients who cannot walk normally. In particular, the applicability of the manual/motorized wheelchair is gradually increasing. Until now, decelerators using belt, chain and worm gears, etc have been widely used. However, a decelerator takes a large space although it is a simple device and thus is not ideal for the driving part of manual/motorized wheelchair. For these reasons, in this study we developed a driving part producing a large driving force through a decelerator using planetary gears rather than conventional worm gear-based decelerator. We designed the tooth profile of the planetary gears for decelerator using Kisssoft program, In addition, we designed the driving part so as to apply it to the wheels of conventional wheelchairs, and then optimized the mechanism for the principles of manual/motorized transposition of the driving part and the operational principles. Based on the results of this study, we finally designed and manufactured a driving part for wheelchair decelerator in the form of planetary gears with 1 sun gear, 2 planetary gears and 1 ring gear.

• International Journal of Automotive Technology
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• 제5권2호
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• pp.123-133
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• 2004

This paper describes a robust and fast wheel slip tracking control using a moving sliding surface technique. A traction control system (TCS) is the active safety system used to prevent the wheel slipping and thus improve acceleration performance, stability and steerability on slippery roads through the engine torque and/or brake torque control. This paper presents a wheel slip control for TCS through the engine torque control. The proposed controller can track a reference input wheel slip in a predetermined time. The design strategy investigated is based on a moving sliding surface that only contains the error between the reference input wheel slip and the actual wheel slip. The used moving sliding mode was originally designed to ensure that the states remain on a sliding surface, thereby achieving robustness and eliminating chattering. The improved robustness in driving is important due to changes, such as from dry road to wet road or vice versa which always happen in working conditions. Simulations are performed to demonstrate the effectiveness of the proposed moving sliding mode controller.

• 한국자동차공학회논문집
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• 제21권6호
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• pp.40-48
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• 2013

Recently, many types of electric vehicles including a heavy duty vehicle have been developed and released because of the better fuel economy and less gas products. In this study, research about an electric bus which utilizes the wheel motor drive system was conducted. The wheel motor is a motor connected to the wheel directly only with a simple gear so that the developer can utilize the space efficiently and the whole system efficiency will be better because of simple structure. However, because it is different from former types of vehicles which use the differential gear, the development of the integrated control logic is required in order to meet the vehicle stability and driving performance. The developed control logic is composed with direct yaw moment control, regenerative braking control and slip control logics. It is compared to the control logics which does not consist of direct yaw moment control and slip control when the vehicle is exposed in tough situations. For the unification of the control logic, a few maps were developed and applied to determine the output torque of each motor according to the driving status. As a result, it is shown that the developed control logic is more safe and well follow the target speed than the other control logic applied simulations.

• 산업경영시스템학회지
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• 제21권48호
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• pp.145-152
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• 1998

Driving performance is characterized by many things such as driver's experience period, age, ability of information processing and reaction time of control devices and so forth. However, each factor of driving performance is needed to help and screen a poor driver for safe driving. In this paper, driving performance was estimated by reaction of manipulating brake, accelerator, steering wheel and speed. Subjects were grouped by experience of accident and age. Combinations of every group were analysed. For all the dependent variables, only steering wheel and speed were shown to have significant difference, which could be regarded as visual information of speed and direction were the important factors to drive safely. Especially for tile elderly, it is needed to enhance their ability of visual information processing that is to be decreased with aging. Therefore driving simulator to train and screen the poor driver should be studied.