• Transactions of the Korean Society of Automotive Engineers
• /
• v.5 no.1
• /
• pp.195-206
• /
• 1997

In this study, a simulation tool is developed in order to investigate non steadystate cornering performance of 4WD/4WS vehicles. The 4WD/4WS vehicles are modeled as a 8-th order dynamic system which includes complex non-linear vehicle dynamics and tire models. The vehicle models are constructed into a modulated simulation tool and are utilized for analyzing cornering performance such as combined braking and steering, cornering on the icy read and $\mu$-split braking, The whole analysis is done with the simulation tool which consists of a number of subsystems and offers graphic environment. Simulation results show that this tool is useful and cost-effective in the dynamic analysis of the combustion-engine vehicles as well as electrically driven vehicles.

• Aerospace Engineering and Technology
• /
• v.6 no.1
• /
• pp.19-28
• /
• 2007

In this study, a nonlinear 2 degree of freedom mathematical model has been developed for impact analysis of the nose landing gear of a light aircraft which is composed of an wheel & tire, an Oleo-pneumatic shock strut and the castering wheel fork for the differential braking steering, and then the response of impact is computed using a numerical method. The mathematical model of a nose landing gear contains nonlinear characteristics which are an impact load - deflection property of a tire and internally frictional forces between an inner surface of an upper cylinder and a bearing of a lower rod due to side forces like the declined angle of strut, the moment due to an wheel fork, the side drag due to a steering and it is computed using the 4th-order Runge-Kutta method. The comparison process between analytical results and experimental results of the other proven nose landing gear is carried out to verify the mathematical model.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.23 no.5
• /
• pp.478-485
• /
• 2015

Availability of the climbing angle information is crucial for the intelligent vehicle system. However, the climbing angle information can't be measured with the sensor mounted on the vehicle. In this paper, climbing angle estimation system is proposed. First, longitudinal acceleration obtained from gyro-sensor is compared with the actual longitudinal acceleration of the vehicle. If the vehicle is in yawing motion, actual longitudinal acceleration can't be approximated from time derivative of wheel speed, because lateral velocity and yaw rate affect actual longitudinal acceleration. Wheel speed and yaw rate can be obtained from the sensors mounted on the vehicle, but lateral velocity can't be measured from the sensor. Therefore, lateral velocity is estimated using unknown input observer with nonlinear tire model. Simulation results show that the compensated results using lateral velocity and yaw rate show better performance than uncompensated results.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.05a
• /
• pp.233-237
• /
• 2002

Vehicle Dynamics Control(VDC) has been a breakthrough and become a new terminology for the safety of a driver and improvement of vehicle handling. This paper examines the usefulness of a brake steer system (BSS), which uses differential brake forces for steering intervention in the context of VDC. In order to help the car to turn, a yaw moment can be achieved by altering the left/light and front/rear brake distribution. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. A 8-DOF non-linear vehicle model including STI tire model will be validated using the equations of motion of the vehicle, and the non-linear vehicle dynamics. Since Fuzzy logic can consider the nonlinear effect of vehicle modeling, Fuzzy controller is designed to explore BSS feasibility, by modifying the brake distribution through the control of the yaw rate of the vehicle. The control strategies developed will be tested by simulation of a variety of situation; the possibility of VDC using BSS is verified in this paper.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.11
• /
• pp.65-74
• /
• 2002

This paper examines the usefulness of a Brake Steer System (BSS), which uses differential brake forces for steering intervention in the context of Intelligent Transportation Systems (ITS). In order to help the car to turn, a yaw moment can be achieved by altering the left/right and front/rear brake distribution. This resulting yaw moment on the vehicle affects lateral position thereby providing a limited steering function. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. A 8-DOF nonlinear vehicle model including STI tire model will be validated using the equations of motion of the vehicle. Then a controller will be developed. This controller, which will be a PID controller tuned by Ziegler-Nichols, will be designed to explore BSS feasibility by modifying the brake distribution through the control of the yaw rate of the vehicle.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2004.05a
• /
• pp.408-413
• /
• 2004

High speed planning boats also have been required more and more the rational strength analysis and evaluation for the optimal structural design in respect of the structural lightness according to the high speed trend. Even though the suggestion of the simple type equation for the equivalent dynamic pressure is reasonable to design the scantling of ship structure conveniently, many research activities for more reasonable improvement of the simple design pressure, have been continued to suggest the more accurate equivalent static description of tire structural response such as the deflection and stress of hull structure. In this research, we focus on the aluminum bottom stiffened plate structure in which structural scantling is mainly depend on the local loads such as dynamic or impact pressure without other load effects and structural response for the simple dynamic equivalent pressure was investigated through the structural analysis. In order to investigate the structural response of the bottom stiffened plate structure subjected to the dynamic equivalent design pressure, linear and nonlinear structural analysis of the bottom stiffened plate structure of 4.3 ton aluminum planning boat was performed based on the equivalent static applied loads which were derived from the KR regulation and representative one among various dynamic equivalent pressure equations. From above analysis results, we found that the response such as deflection and stress of plate member was similar with the response results of one plate member model with fixed boundary, which was published previous paper and in case of KR design loading, all response of stiffened plate structure were within elastic limit. Through the nonlinear analysis, nearly elastic behavior including the slight geometrical nonlinear response was dominant but plastic local zone was appeared at $85\%$ limit load. Therefore, we can say that through tire linear and nonlinear analysis, this stiffened plate member has no structural strength problem based on the yield criteria in case within $60\%$ limit load except the other strength point of view such as the fatigue and buckling problem.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.27 no.5
• /
• pp.666-672
• /
• 2003

This paper presents a design of the controller for vehicle lateral dynamics using active yaw moment. Vehicle lateral motion is incorporated with directional controllability and stability. These are conflicting each other from the view of vehicle handling performance. To compromise the trade-off between these two aspects, we suggest a new control algorithm based on the sliding mode with time-varying switching surface according to the body side slip angle. The controller can deal with the nonlinear region in vehicle driving condition and be robust to the parameter uncertainties in the plant model. Control performance is evaluated from the simulation for the vehicle of real parameters on the road with various tire-road frictions.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.5 no.4
• /
• pp.29-38
• /
• 1997

In this paper, brake steering performance of electric-driven special-purpose vehicles is investigated. A 14 DOF model is developed considering nonlinear character- istics of the suspension and tire. Based on the model, cornering performance is analyzed for brake steering, acceleration steering and pivoting, respectively. Simulation results are obtained based on the developed SIMULINK module. This analysis about the non steady state cornering performance is particularly important for armored vehicles because the projected route of the vehicle at emergency should be predicted accuracy.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.19 no.5
• /
• pp.22-28
• /
• 2011

This paper presents an active roll motion control of a passenger vehicle. The roll controller is designed in the framework of $H_{\infty}$ control scheme based on the 3 DOF vehicle model taking into consideration parameter variations, which affect the roll dynamics, and unmodeled high frequency dynamics for robustness and performance. In order to investigate the feasibility of the active roll control system in a car, its performance is evaluated by simulation in a full vehicle model with nonlinear tire characteristics under various operating conditions. Finally, in order to enhance the performance in a transient region taking into account the limited bandwidth of the actuating module, a hybrid control strategy is presented.

• International Journal of Precision Engineering and Manufacturing
• /
• v.5 no.3
• /
• pp.26-34
• /
• 2004

This paper examines the usefulness of a Brake Steer System(BSS), which uses differential brake forces for steering intervention in the context of Intelligent Transportation Systems(ITS). In order to help the car to turn, a yaw moment control was achieved by altering the left/right and front/rear brake distribution. This resulting yaw moment on the vehicle affects lateral position thereby providing a limited steering function. The steering function achieved through BSS was used to control lateral position in an unintended road departure system. A 8-DOF nonlinear vehicle model including STI tire model was validated using the equations of motion of the vehicle. Then a controller was developed. This controller, which is a PID controller tuned by Ziegler-Nichols, is designed to explore BSS feasibility by modifying the brake distribution through the control of the yaw rate of the vehicle.