• 한국자동차공학회논문집
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• 제14권4호
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• pp.199-206
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• 2006

Real time vehicle dynamics models have been developed with the subsystem synthesis method for intelligent vehicle HILS system. Three different models for solving subsystem equations are compared in order to find out the best suitable model for HILS applications. The first model is based on the generalized coordinate partitioning technique, and the second one is on the approximate function approach, and the last one is on the constraint stabilization method. To investigate the theoretical efficiency of three proposed methods, arithmetic operators used in the formulations of three models are counted. Bump run simulations with half-sine bump have also carried out with three different models to measure the actual CPU time to validate theoretical investigation.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.590-595
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• 2007

It is important to predict the collision behavior of a train consist to improve its crashworthiness. To analyze crash behavior of train, four kinds of methods are mainly used so far. The first is method using multibody dynamics to predict the gross motion of the train set. The second uses 3D FE model to apply the section analysis method in order. The third is used to deduce design specification and evaluate the crashworhiness of a train by using 1D model. The last is to constitute 2D model to check overriding and coupling devices. The train evaluation procedures are so complex that it is difficult to understand or deal with. In this study, VTM for railway train was introduced to simplify the procedures. VTM involves 3D models, 1D models and dynamic components such as suspension and coupling. The method using hybrid concept model makes it possible to do all the things that are mentioned above. To analyze crash behavior tendency of VTM, the model was simulated and the simulation results were discussed.

• 대한기계학회논문집A
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• 제27권8호
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• pp.1303-1308
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• 2003

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of ail relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

• EDISON SW 활용 경진대회 논문집
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• 제6회(2017년)
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• pp.110-117
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• 2017

Multiscale Simulation은 sub-nano scale의 전자 구조에서부터 macro scale의 multibody system에 이르기까지 다양한 시간/공간 스케일을 관통하는 시뮬레이션 기법이다. 즉, 전자수준에서의 변화로 인한 분자 전체의 구조 변화와 그에 따른 기능의 변화를 알 수 있는 simulation 방법으로 다양한 스케일에서 분자의 정보를 얻을 수 있다는 점에서 최근 중요하게 여겨지는 시뮬레이션 방법 중 하나이다. 따라서 본 연구에서는 몇 가지의 EDISON_CHEM 솔버들을 조합하여 Multiscale Simulation의 가능성을 제시하고자 한다. 또한, 세부적으로 양자계산 시에 어떤 이론을 선택하여 계산하면 더 정확한지, basis set 선택 시 발생하는 basis set superposition error(BSSE)로 인한 분자 수준의 물성의 오차는 어느정도 인지 알아보고자 했다. 본 연구에서는 비교적 간단하지만 온실 가스이자 에너지원으로 각광받고 있는 메탄을 대상으로 하였다. 다양한 시공간 스케일을 다루는 에디슨 솔버들 중에 양자 수준의 계산을 할 수 있는 솔버로는 "GAMESS"를 이용했고, 이 결과를 통해 분자 수준의 물성을 알아보기 위한 솔버로는 "사용자 지정 역장을 사용한 일반 분자동력학(general_MD)"과 "두가지 서로 다른 종류의 LJ입자에 대한 분자동력 시뮬레이션 프로그램(sejong_lj))"을 이용했다. 메탄의 상 전이 과정에 대한 연구 결과 Hartree fock (HF) self-consistent theory를 통해 얻은 force field 보다는 Second-order Møller-Plesset (MP2) perturbation theory로 얻은 force field가 더 정확한 상 전이 온도를 예측한다는 것을 메탄의 coarse-grained simulation을 통해 알 수 있었다. 또한, MP2 이론으로 구한 force field에서 BSSE를 보정해주면 실험적으로 구한 메탄의 상 전이 온도와 더 근사한 값의 시뮬레이션 결과를 얻을 수 있었다. 이를 통해 전자 간의 상호작용을 더 정교하게 계산하는 MP2 이론으로 force field를 구해서 BSSE를 보정해주면 계산의 결과가 정확해진다는 것을 알 수 있었으며 이것이 EDISON_CHEM의 솔버들로 가능하다는 것을 제시하였다.

• 한국자동차공학회논문집
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• 제25권2호
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• pp.167-178
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• 2017

The steering wheel of a vehicle has a typical characteristic of automatically returning to its neutral state when the driver releases it. Steering returnability originated from the tire forces and kingpin moments. It is proportional to the reaction torque that is generated through the rack and column, which are dependent on suspension and steering geometry. It is also important to accurately predict and design it because steering returnability is related to steering performance. In this study, a detailed multibody dynamics model of a vehicle was designed by using ADAMS/Car and simulated for steering returnability. In addition, a tolerance analysis of the chassis system in terms of part dimension and properties has been performed in order to minimize the design parameters. The sensitivity of the selected design parameters was then analyzed via Design of Experiments(DOE). As a result, we were able to obtain the main parameters through a contribution analysis. It can be used to predict steering returnability and improve its performance, which is represented by the angle of restoration and laterality.

• 한국생산제조학회지
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• 제18권6호
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• pp.642-651
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• 2009

The history of excavator design is not long enough which still causes most of the design considerations to be focused on static analysis or simple functional improvement based on static analysis. However, the real forces experiencing on each component of excavator are highly transient and impulsive. Therefore, the prediction and the evaluation of the movement of the excavator by dynamic load in the early design stage through the dynamic transient analysis of the excavator and ensuring of design technique plays an importance role to reduce development-cost, shorten product-deliver, decrease vehicle-weight and optimize the system design. In this paper, Commercial software DADS and ANSYS help to develop the track model of the crawler type excavator, and to evaluate the performance and the dynamic characteristics of excavator with various simulations. For that reason, the track of crawler type excavator is modelled with DADS Track Vehicle Superelement, and the reaction forces on the track rollers were predicted through the driving simulation. Also, the upper frame and cabin vibration characteristics, at the low RPM idle state, were evaluated with engine rigid body modelling. And flexibility body effects were considered to determine the more accurate joint reaction forces and accelerations under the upper frame swing motion.

• 한국철도학회논문집
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• 제10권5호
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• pp.492-498
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• 2007

곡선통과 새마을호 열차의 주행안전성을 평가하기 위하여 다물체동력학 해석모델이 사용된다. 이 모델과 ADAMS/Rail 사용하여 탈선계수와 관련된 변수의 변화에 따른 민감도해석이 수행된다. 저속에서 우측차륜의 탈선계수와 윤중감소율이 좌측차륜보다 높으나, 고속의 경우는 좌측차륜이 우측차륜보다 높다. 곡선반경의 감소에 따라 탈선계수와 윤중감소율이 감소된다. 완화곡선의 길이가 증가하면 탈선계수는 증가하나 윤중감소율은 변화가 없다. 캔트가 증가하면 탈선계수와 윤중감소율이 증가한다.

• 드라이브 ㆍ 컨트롤
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• 제19권2호
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• pp.1-10
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• 2022

Field robots operate in various areas, including construction, agriculture, forestry and manufacturing. Typical tasks of field robots used in various areas include excavation, flattening, and demolition. Such tasks are often accomplished in narrow alleys or indoors. In the case of field robots, there is a limit to working in a small space. Thus, to compensate for these shortcomings, many field robots equipped with Tiltrotators have recently been observed. The advantages of Tiltrotator are improved task efficiency and reduced operating time by reducing unnecessary behavior. We need simulation models that can improve the ability of new people to work and simulate tasks in advance. Thus, in this paper, we developed a simscape-based simulation model and modeling of 6DOF systems for field robots equipped with Tiltrotator. Dynamic modeling of field robot 3D models using Simcape multibody and hydraulic systems of field robots using Simcape Hydraulics were modeled. We applied a PID controller to create a control system that operates along the input angle. Simulation results show that errors occur when comparing input and output angles, but overall, they move along input angles.

• 한국항공우주학회지
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• 제50권11호
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• pp.791-800
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• 2022

능동 진동 제어 시스템(Active vibration control system, AVCS)을 이용하여 헬리콥터 기체의 능동 진동 제어 시 우수한 진동 제어 성능을 얻기 위하여서는 진동 상쇄 하중 발생기의 개수, 위치 및 하중 방향의 조합의 최적화가 중요하다. 따라서 고려 가능한 모든 하중 발생기의 조합에 대하여 헬리콥터 기체에 대한 AVCS의 진동 제어 성능을 조사하기 위해 Exhaustive 시험 기법을 적용한 AVCS 프레임워크를 구축하였다. 로터 진동 하중 해석, 기체 진동 응답 해석 및 AVCS 시뮬레이션 연구를 수행하기 위해 DYMORE II, MSC.NASTRAN 및 MATLAB Simulink 등 다양한 프로그램을 사용하였다. 이를 이용하여 비행 속도 158 knots의 UH-60A 헬리콥터에 대한 AVCS 적용을 위한 CRFG 조합을 최적화하였다. 최적의 CRFG 조합이 적용된 AVCS를 통해 UH-60A 헬리콥터의 4P 기체 진동 응답을 능동 제어한 결과, 기체의 주요 위치에서 4P 기체 진동 응답이 19.35~98.07%만큼 감소될 수 있었다.

• 한국자동차공학회논문집
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• 제16권1호
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• pp.144-151
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• 2008

The bi-modal vehicle is composed of two car-bodies and three axles. Each axle of the vehicle has an independent suspension and all wheels are steerable. Since the bi-modal vehicle has longer wheelbase than most urban buses, the All-Wheel-Steering(AWS) system is adapted for to ensure safe driving and proper turning radius on a curved road. This paper proposes an AWS control algorithm for stable driving of bi-modal vehicle. Steering angles and directions of each axle of bi-modal vehicle changed according to the driving environment and steering modes. In the case that front and rear axles should be steered in opposite directions is a negative mode, and the other case that the axles should be steered in the same direction is a positive mode. For example, in the positive mode, front and real axles are steered in the same direction, while in the negative mode, they are steered in the opposite direction. A multibody model of the vehicle is used to verify the performance of the steering algorithm and simulation results of 2WS are compared with those of AWS under the same condition.