• Proceedings of the KIEE Conference
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• 2002.11d
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• pp.334-340
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• 2002

This paper proposes a new anti-slip re-adhesion control system fur electric railway vehicle driven by inverter-fed induction motors. This paper introduces an instantaneous tangential farce coefficient estimator between driving wheel and rail, which is based on disturbance observer. The torque command of proposed system regulates to exceed this estimated tangential farce coefficient in order to avoid undesirable slip phenomenon of driving wheels. We have already proposed the anti-slip re-adhesion control system based on disturbance observer for simplified one wheel equivalent model successfully. This paper extend to this system to the actual bogie system, which has four driving wheels driven by two induction motors fed by one inverter. In order to apply anti-slip re-adhesion control to the actual bogie system a new anti-slip re-adhesion control based on both disturbance observer and speed sensor-less vector control of induction motor with quick response are combined. The experimental results and the numerical simulation results prove the validity of the proposed control system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.104-104
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• 2000

Among durability tests, the accelerated durability test has been widely used to evaluate the durability of vehicle structure and chassis pans in a shon period of time on the designed road which has severe surface conditions. However it increases the drivers fatigue mainly caused by the severe driving conditions. The drivers difficulty of maintaining constant speed and controlling the steering wheel reduces the reliability of test results. The durability test includes the position and distance sensing system for the recognition of the absolute and relative driving position, the driving control system for the control of whole driving circumstance, the emergency system for responding to system errors. AGVDS (Autonomous Guided Vehicle Driving System) was Proved to facilitate the development of now car projects. Therefore the AGVDS we propose will help make the fundamentals for all future traffic systems.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.2
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• pp.69-76
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• 2014

This paper proposes a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.12
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• pp.1866-1872
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• 2017

This paper presents the design of in-wheel type Switched Reluctance Motor (SRM) which can be used as both traction motor and power pickup device in a wireless charging system of electric vehicles. The SRM acts as a traction drive in driving mode and a power receiver in charging mode to avoid any additional weights. Double stator axial field SRM is used due to its structure that can be mounted inside the wheel. The charging circuit is integrated with the asymmetric converter and phase windings of SRM, reducing the cost and size of the system. Magnetic resonance is implemented to increase the efficiency. Simulations done in Maxwell and Simplorer verify the effectiveness of the proposed system.

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.283-290
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• 2007

A bi-modal tram has been developed to offer an advanced transportation service compared with existing vehicles. The All-Wheel-Steering system is applied to the bi-modal tram to satisfy the required steering performance because the bi-modal tram has extended length and articulated mechanism. An ECU for the steering system is essential to steer wheels on 2nd and 3rd axles by the specific AWS algorithm with the prescribed driving condition. The Hardware-In-the-Loop Simulation(HILS) system is planned for the purpose of evaluating the steering system of the bi-modal tram. There are kinematic links with the hydraulic actuator to steer wheels on each 2nd and 3rd axles and also same steering mechanism as the actual vehicle is in the HILS system. Controlling the movement of hydraulic actuator which reflects the lateral steering reaction force on each wheel is the key to realize the HILS system, but the reaction force is continuously changed according to various driving conditions. Therefore, the simulation through the multi-body dynamics model is used to obtain the required forces.

• Journal of KSNVE
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• v.8 no.4
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• pp.616-622
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• 1998

An analytical method has been developed to estimate the dynamic contact force between wheel and rail when trains are running on rail with vertical irregularities. In this method, the effect of Hertzian deformation at the contact point is considered as a linearized spring and the wheel is considered as an sprung mass. The rail is modelled as a discretely-supported Timoshenko beam, and the periodic structure theory was adopted to obtain the driving-point receptance. As an example, the dynamic contact force for a typical wheel/rail system was analysed by the method developed in this research and the dynamic characteristics of the system was also discussed. It is revealed that discretely-supported Timoshenko beam model should be used instead of the previously used continuously-supported model or discretelysupported Euler beam model, for the frequency range above several hundred hertz.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.4
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.532-539
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• 2012

This paper proposes a balancing and driving control system for a bicycle robot. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. For the driving control, PID control algorithm with a variable gain adjustment has been developed in this paper, where the gains are heuristically adjusted during the experiments. To measure the angles of the wheels the encoders are used. For the balancing control, a roll controller is designed with a non-model based algorithm to make the shortest cycle. The tilt angle is measured by the fusion of the acceleration and gyroscope sensors, which is used to generate the control input of the roll controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed bicycle robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.131-136
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• 2004

The limited slip differential(LSD) is a device which enables the driving force to be transmitted from one slipping wheel to another wheel in such case that the car is stuck in clay or snow. When the unwanted slipping occurs on one wheel, the LSD temporarily restraints the differential motion to transmit the driving force in the other wheel. So far, many types of LSD were developed such as mechanical lock type, disk clutch type, viscous coupling type, torsion type and multiple clutch type. However these types of LSD is too complicated and expensive, so it is used only for 4WD outdoor vehicles, military vehicles, and a portion of deluxe car. So, many studies has been devoted to improve new types of LSD to cover those demerits of existing LSDs that the hydraulic LSD is developed as arepresentative result of that. The hydraulic LSD which uses the principle of gear pump is packed with viscous oil in tight container. When a slip occurs on one wheel, the hydraulic LSD generates torque caused by high oil pressure in the container. This study has been devoted to suggest an improved hydraulic LSD. In order to achieve it, we designed a new type of hydraulic LSD, produced it and did a rig test with it on real vehicle. From the rig test, it has been confirmed that the new type of hydraulic LSD can be directly applied to exiting vehicles without changing the design criteria

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.1616-1625
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• 2007

Recently, embedded systems role as control systems instead of mechanical control systems in many parts of vehicles. In cases that embedded systems are used controling the electric signal, it is important to secure the reliability of a software within embedded systems. In this paper, the test platform for securing the reliability and real-time characteristic of the embedded system that controls electric signal of All Wheel Steering Control System in a Bi-modal tram is proposed. The platform is built on a HIL (Hardware In the Loop) architecture. Through the HIL platform, various vehicle conditions, driver activities and environment conditions can be successfully tested without actual driving, hence improving the reliability of the embedded system for the All Wheel Steering Control System.