• 한국기계가공학회지
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• 제20권11호
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• pp.92-99
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• 2021

Agricultural tractors drive and operate both off-road and on-road. Tire-road interaction significantly affects the tractive performance of a tractor, which is difficult to predict numerically. Many empirical models have been developed to predict the tractive performance of tractors using the cone index, which can be measured through simple tests. However, a magic formula model that can determine the tractive performance without a cone index can be used instead of traditional empirical models as the cone index cannot be measured on asphalt roads. The aim of this study was to predict the tractive performance of a tractor using the magic formula tire model. The traction force of the tires on an asphalt road was measured using an agricultural tractor. The dynamic wheel load was calculated to derive the coefficients of the traction-slip curve using the measured static wheel load and drawbar pull of the tractor. Curve fitting was performed to fit the experimental data using the magic formula. The parameters of the magic formula tire model were well identified, and the model successfully determined the coefficient of traction of the tractor.

• 제어로봇시스템학회논문지
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• 제4권6호
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• pp.722-728
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• 1998

In this paper real-time estimation methods for identifying the tire-road friction coefficient are presented. Taking advantage of the Magic Formula Tire Model, the similarity technique and the specific model for the vehicle dynamics, a reduced order observer/filtered-regressor-based method is proposed. The Proposed method is evaluated on simulations of a full-vehicle model with an eight state nonlinear vehicle/transmission model and nonlinear suspension model. It has been shown through simulations that it is possible to estimate the tire-road friction from measurements of engine rpm, transmission output speed and wheel speeds using the proposed identification method. The proposed method can be used as a useful option as a part of vehicle collision warning/avoidance systems and will be useful in the implementation of a warning algorithm since the tire-road friction can be estimated only using RPM sensors.

• 한국자동차공학회논문집
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• 제11권2호
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• pp.140-147
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• 2003

Full scale durability test in the laboratory is an essential of any fatigue life evaluation of components or structures of the automotive vehicle. Component testing is particularly important in today's highly competitive industries where the design to reduce weight and production costs must be balanced with the necessity to avoid expensive service failure. Generally, hydraulic road simulator is used to carry out the fatigue test and the vibration test. In this paper, the link unit which is able to realize the 3 element forces such as vertical force, lateral force, and longitudinal force that are applied to the road simulator is designed. Also, the designed link is verified with kinematics and inverse-kinematics. From this results, the designed factor satisfied the maximum stroke so that it satisfied the requirements for 3-axial road simulator.

• 대한기계학회논문집A
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• 제28권8호
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• pp.1203-1211
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• 2004

A traction control systems (TCSs) composed of either a wheel slip controller or a throttle valve controller or an integrated controller of both systems are proposed in this study. To validatethe dynamic characteristics of a vehicle and TCS, a full car model that can simulate the responses of both front wheel drive (2WD) and four wheel drive (4WD) vehicle is also developed. The wheel slip controller uses a sliding mode control scheme and the throttle valve is controlled by a PID controller. The results shows that tHe brake TCS and the engine TCS achieve rapid acceleration, and reduce slip angle on slippery road. When a vehicle is cornering and accelerating maneuver with the brake or engine TCS, understeer or oversteer occur, depending on the driving conditions. The integrated TCS prevents most of these problems and improves the stability and controllability of the vehicle.

• International Journal of Automotive Technology
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• 제3권2호
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• pp.63-70
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• 2002

Future on-board vehicle control systems can be further improved through new types of mechatronic systems. In particular, these systems' capacities for interaction enhance safety, comfort and economic viability. The Automotive Engineering Department (fzd) of darmstadt University of Technology is engaged in research of the mechatronic vehicle corner, which consists of three subsystems: sensor tire, electrically actuated wheel brake and smart suspension. By intercommunication of these three systems, the brake controller receives direct, fast and permanent information about dynamic events in the tire contact area provided by the tire sensor as valuable control input. This allows to control operation conditions of each wheel brake. The information provided by the tire sensor for example help to distinguish between staightline driving and cornering as well as to determine $\mu$-split conditions. In conjunction with current information of dynamic wheel loads, tire pressures and friction tyre/road, the ideal brake force distribution can be achieved. Alike through integration of adaptive suspension bushings, elastokinematic behaviour and wheel positions can be adapted to manoeuver-oriented requirements.

• 한국도로학회논문집
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• 제15권1호
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• pp.103-110
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• 2013

PURPOSES: The objective of this study is to analyze and evaluate the behavior of orthotropic steel bridge deck pavement using three-dimensional finite element analysis and full-scale wheel load testing. METHODS: Since the layer thickness and material properties used in the bridge deck pavement are different from its condition, it is very difficult to measure and access the behavior of bridge deck pavement in the field. To solve this problem, the full-scale wheel load testing was conducted on the PSMA/Mastic bridge deck pavement and the deflection of bridge deck and horizontal tensile strain on top of pavement were measured under the loading condition. Three-dimensional finite element analysis was conducted to predict the behavior of bridge deck pavement and the predicted deflection and tensile strain values are compared with measured values from the wheel loading testing. RESULTS: Test results showed that the predicted deflections are 10% lower than measured ones and the error between predicted and measured horizontal tensile strain values is less than 2% in the critical location. CONCLUSIONS: The fact indicates that the proposed the analysis is found to be accurate for estimating the behavior of bridge deck pavements.

• 한국지능시스템학회논문지
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• 제18권3호
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• pp.329-334
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• 2008

바퀴구동형 메커니즘은 다양한 서비스 로봇에 유용하게 활용되고 있다. 이러한 로봇을 위하여 가장 기본적이면서 중요하게 요구되는 성능중의 하나는 경사진 도로를 어려움없이 주행할 수 있는 등반능력으로 볼 수 있다. 본 논문에서는 이러한 바퀴 구동형 로봇 메커니즘의 등반능력을 고려하고, 경사면을 원활하게 주행하기 위한 구동기의 사양을 결정하는데 유용한 필요조건을 제시하고자 한다. 결과적으로, 이러한 조건은 이동로봇 메커니즘의 설계에 유용하게 활용될 수 있을 것으로 기대한다.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1999년도 학회창립 10주년 기념 1999년도 가을 학술발표회 논문집
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• pp.861-868
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• 1999

Drainage concrete pavement, unlike water permeable concrete pavement, is to preclude the pavement from overflowing with water, such as rain water, from infiltrating into earth by placing a border in the middle layer which makes water to flow through the surface of the border to the conduit. Drainage concrete pavement enhances car wheel resistance to slippery and wet road surface and imbibes noise caused by friction on the road. Also, by using pigment, it adds to the beauty of the environment. Drainage concrete pavement can be used for sidewalks, roadways, parking lots and expressways.

• 한국도로학회논문집
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• 제7권2호
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• pp.97-107
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• 2005

반복주행시험에서 얻은 침하깊이와 동적안정도는 아스팔트 혼합물의 소성변형 저항성 평가를 위하여 널리 사용되고 있다. 하지만 바퀴의 재질에 따라 다르게 얻어지는 실정이다. 따라서 본 연구는 반복주행시험시 핵심요소라 할 수 있는 바퀴의 재질에 대하여 연구하였다. 이를 위하여 2종류(7.5mm, 15mm)의 고무바퀴와 고무를 씌우지 않은 강재(Steel)바퀴 한 종류를 사용하였으며, 반복주행시험을 통하여 바퀴재질에 따른 혼합물의 소성변형 저항성을 평가하였다. 또한 반복주행시험에서 얻은 침하깊이와 동적안정도를 Kim test의 변형강도와의 상관성 분석을 통하여 반복주행 시험용 최적 바퀴를 선정하는데 이용하였다. 고무두께가 15mm, 7.5mm, 0mm에 대한 상관성 분석결과 각각 0.7, 0.8. 0.9 이상이 나와 고무를 사용하지 않은 강재바퀴가 변형강도와의 상관성이 가장 높은 값을 보여주어 향후 반복주행시험시 강재바퀴의 사용이 소성변형을 예측하는데 가장 유리 할 것으로 판단된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.548-552
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• 2003

In the braking system, the friction force is the most important factor of the design. For long time, many researchers have been strived for getting the exact friction coefficients. But the friction coefficients are affected by the road condition and changed by lots of parameters, such as normal force and characteristics between two contacted materials, temperature, etc. For the development of ABS of the aircraft, HILS(Hardware-In-the-Loop-Simulation) test and dynamometer test was carried out. For the calculation of the friction coefficients, the wheel moments were measured using the load cell mounted on the housing of the wheel. The test conditions were dry and greasy, as the 0.7 and 0.4 in friction coefficient, respectively. In this paper, the test results of the friction coefficients were represented and the improvement method was suggested.