• 한국자동차공학회논문집
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• 제6권2호
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• pp.1-11
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• 1998

The 4WS system is usually developed to improve the maneuverability at low speed and the straight line stability at high speed, but it is found to have the severe understeer characteristics at high speed. Therefore a 4WS vehicle requires to turn the steering wheel much more than a 2WS vehicle at high speeds even a driver goes through the same curved road. In this study, to enhance the cornering performance of the 4WS vehicle at high speed, a DYC 4WS system is proposed based on the nonlinear 4WS system and direct yaw moment control system. Especially the proposed DYC 4WS system is able to realize a zero side slip angle for vehicles and a cornering performance similar to the 2WS vehicle at high speed.

• 한국자동차공학회논문집
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• 제4권2호
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• pp.209-220
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• 1996

In this paper, dynamic performance of 4WD/4WS Electric-driven vehicles is investigated. A coupled dynamic model is introduced for longitudinal, lateral and yawing motion of 4WD/4WS vehicles. Based on the coupled model, dynamic performance is analyzed for steady-state steering, acceleration steering and brake steering, respectively. These non steady-state cornering analysis is important for non-paved road maneuvering, trajectory projection for armored vehicle and future AVCS(Advanced Vehicle Control System) technology. Simulation results are obtained based on a simulink module for the introduced model.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.180.1-180
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• 2001

In the autonomous vehicle, the reference lane is continually detected by machine vision system. And then the vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between the vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, PI controller is introduced for the yaw rate feedback. And it is tuned by the simulation that the vehicle is modeled as 2 DOF verified by the results of the actual vehicle test. The lateral control algorithm by the yaw rate feedback has good performances of lane tracking and passenger comfort.

• Journal of Mechanical Science and Technology
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• 제16권3호
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• pp.338-343
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• 2002

In the autonomous vehicle, the reference lane is continually detected by machine vision system. And then the vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between a vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, PI controller is introduced by yaw rate feedback and tuned from the simulation where the vehicle is modeled as 2 DOF and 79 DOF and verified by the results of an actual vehicle test. The lateral control algorithm by yaw rate feedback has good performances of lane tracking and passenger comfort.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.458-463
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• 2000

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 and be robust to the parameter uncertainties in the plant model. Control performance was evaluated from the simulation.

• 한국군사과학기술학회지
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• 제22권3호
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• pp.353-359
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• 2019

In this study, a aerodynamic loads prediction to design a deploying device of folded fin was introduced. In general, resultant flow conditions around the fin are used to obtain deploying moments and required energy. However, when it comes to the air vehicles launched from a mobile platform, more specific flow conditions can be provided. With the conditions, the design criteria can be calculated more realistically. In this study, therefore, aerodynamic moments induced by aerodynamic loads and energy required in deployment were calculated using wind-over-deck(WOD) velocity, combination of a platform velocity and a wind velocity. For the calculation, wind tunnel test was conducted on various angle of attack, side slip angles, and folding angles. It was found that the aerodynamic moments and the energy required in deployment using the non-uniform flow due to the velocity components were less than those using the uniform flow without the components.

• 자동차안전학회지
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• 제14권4호
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• pp.53-59
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• 2022

This paper describes an integrated control of torque vectoring and rear wheel steering using model predictive control. The control objective is to minimize the yaw rate and body side slip angle errors with chattering alleviation. The proposed model predictive controller is devised using a linear parameter-varying (LPV) vehicle model with real time estimation of the varying model parameters. The proposed controller has been investigated via computer simulations. In the simulation results, the performance of the proposed controller has been compared with uncontrolled cases. The simulation results show that the proposed algorithm can improve the lateral stability and handling performance.

• 자원환경지질
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• 제2권3호
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• pp.58-67
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• 1969

Songgwang lead zinc mine is located in about 12km to the north-east of Jeonju City. Geology of the mine and its visinity is consisted of Jeonju series belonged to so-called Okcheon system, Seodaesan tuff formation, Silla series, and the quartz porphyry intruded into these formations. Jeonju series comprising 3 formations; that is, of Sadaeri, Sindong, and Girinbong. Jeonju series is generally distributed in southern part of the area, striking NNW, and diping NE $30^{\circ}$, or NW $30^{\circ}$. It is deformed to form synclinorium and anticlinorium plunging to the north with low angle. In the northern part of the area, Jeonju series was cut by Sinpeongri-fault of NEE direction near Sinpeongri. In the north side of the fault, it is overturned and shows NEE or NWW strikes and NW $60^{\circ}$ dips. At the west of Songgwangri, it is cut by 3 thrusts; the two are almost parallel each other, and the third oneis manifested by the fact that the lower black shale zone thrusted over the upper limestone. Songgwangri thrust, so named, is a post-mineral fault and its plane represents a premineral slip plane. Enrichment of are took place along the bedding plane or fissure parallel to it, as seen in adit No. 1 or No. 2 along the floor of the thrust, and along the sheared zone or the brecciated zone oblique to the plane near the thrust in crystalline limestone of Sindong formation as observed in the underground levels of inclined slope. Ore minerals are chiefly zincblende, galena, pyrrhotite, arsenopyrite, acompanied pyrite and chalcopyrite, and contain Au and Ag. In earlier stage of mineralization, the limestone was recrystalized, and sulphide minerals were enriched in the· permiable zone said above by pyrometasomatism, and in later stage the limestone was affected chloritization and sericitization. However hydrothermal replacement was weak, so that enrichment did not took place. It seems that minerallizing materials came up through the premineral slip plane and injected, and replaced the limestone in permiable zone said above with sulphide are minerals. Then Songgwangri thrust took place and, the lower black shale zone thrusted upon crystalline limestone.

• 대한기계학회논문집A
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• 제24권8호
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• pp.1899-1909
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• 2000

This paper proposes a new $H_{\infty}$ yaw moment control scheme using brake torque switching for improving vehicle performance and stability especially in high speed driving. In the scheme, one wheel is selected, depending on the vehicle states, at which a brake torque for control is applied. Steering angles are modeled as a disturbance to the system and the $H_{\infty}$ controller is designed to minimize the difference between the performance of the vehicle and that of the desired model. Its performance robustness as well as stability robustness to system parameter variations is assured through ${\mu}$-analysis. Various simulations with a nonlinear 8-DOF vehicle model show that proposed controller enhances the vehicle performance and stability under disturbances and parameter variations as well as under the normal driving condition.

• 동력기계공학회지
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• 제8권4호
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• pp.57-63
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• 2004

Conventionally, 2WS is used for vehicle steering, which can only steering front wheel. In case of trying to high speed lane change or cornering through this kind of vehicle equipped 2WS, it may occur much of Yaw moment. On the other hand, 4WS makes decreasing of Yawing Moment, outstandingly, so it is possible to support vehicle movement stable. And conventional ABS and TCS can only possible to control the longitudinal movement of braking equipment and drive which can only available to control of longitudinal direction. There after new braking system ESP was developed, which controls both of longitudinal and lateral, with adding of the function of controlling Active Yaw Moment. On this paper, we show about not only designing of improved braking and steering system through establishing of the integrated control system design of 4WS and ESP but also designing of the system contribute to precautious for advanced vehicle stability problem.