• 한국자동차공학회논문집
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• 제22권1호
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• pp.65-70
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• 2014

An Integrated Dynamics Control system with four wheel Steering (IDCS) is proposed and analysed in this study. It integrates and controls steer angle of front and rear wheel simultaneously to enhance lateral stability and steerability. An active front steer (AFS) system and an active rear steer (ARS) system are also developed to compare their performances. The systems are evaluated during brake maneuver and several road conditions are used to test the performances. The results showed that IDCS vehicle follows the reference yaw rate and reduces side slip angle very well. AFS and ARS vehicles track the reference yaw rate but they can not reduce side slip angle. On split-${\mu}$ road, IDCS controller forces the vehicle to go straight ahead but AFS and ARS vehicles show lateral deviation from centerline.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2004년도 전력전자학술대회 논문집(2)
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• pp.891-894
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• 2004

This paper estimate coefficient of adhesion through speed sensor-less vector control and load torque disturbance observer used for maximum tractive force control. And also proposes anti-slip control algorithm, which controls torque force of motor in order to keep the estimated adhesion force in maximum adhesion by controlling PI torque with the differential value of estimated adhesion force coefficient.

• 한국자동차공학회논문집
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• 제19권2호
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• pp.50-56
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• 2011

To meet the NOx limit without a penalty of fuel consumption, Urea-SCR system is currently regarded as promising NOx reduction technology for diesel engines. SCR system has to achieve maximal NOx conversion in combination with minimal $NH_3$ slip. In this study, map based open loop control for urea injection was developed and assessed in the European Transient Cycle (ETC) for heavy duty diesel engine. The basic urea quantity set-value which was calculated using the look up tables of engine out NOx, exhaust flow rate and optimum NSR resulted in NOx reduction of 80% and the average $NH_3$ slip of 24 ppm and maximum of 79 ppm. In order to reduce $NH_3$ slip, $NH_3$ storage control algorithm was applied to correct the basic urea quantity and reduced $NH_3$ slip levels to the average 15 ppm and maximum 49 ppm while keeping NOx reduction of 76%. With high and increasing SCR temperature, the $NH_3$ storage capacity decreases, which leads to $NH_3$ slip. The resulting $NH_3$ slip peak can be avoided by stopping or significantly reducing the urea injection during the SCR temperature gradient is over $30^{\circ}C/min$.

• 한국세라믹학회지
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• 제36권2호
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• pp.178-185
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• 1999

Si3N4 겔캐스팅공정 제어를 위하여, 슬립 조성의 영향이 슬립의 점성특성과 성형체의 기계적 특성 및 소결체의 밀도에 미치는 영향에 대하여 조사하였다. 아크릴아마이드 모노머, 고분자전해질, 그리고 질화규소의 혼합물을 어트리터에 예비혼합한 후 볼밀링하여 슬립을 제조하였다. 개시제가 혼합된 슬립을 진공탈포하고 몰드에 주입하고 중합을 진행하였으며, 겔화된 슬립을 건조하여 성형체를 얻었다. 슬립의 특성과 성형체의 기계적 특성을 평가하기 위해, 슬립의 점도 측정과 직경방향 압축시험을 행하였다. 그 결과, near net shaping을 위한 낮은 점도를 갖는 46 vol%의 고농도 질화규소 슬립의 제조가 가능하였다. 성형체가 기계적 특성은 주로 모노머의 농도에 비례하여 증가하였다. 또한, 겔캐스트 성형체의 인장강도가 약 3MPa이 넘으면 기계적 가공이 가능하였으며, 겔캐스팅 성형체를 176$0^{\circ}C$, 3시간 상압소결하여 약 98.5%의 상대밀도를 얻을 수 있었다.

• International Journal of Railway
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• 제9권2호
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• pp.41-45
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• 2016

In this paper, a study on the efficiency improvement of the magnetic levitation train using the LIM (Linear Induction Motor) was presented. The maglev train has the advantage of being environmentally friendly since much less noise and dust is produced. However, due to structural limitation, compared to a rotating induction motor, linear induction motor, the main propulsion engine of the maglev train has a relatively greater air gap and hence has the lower operation efficiency. In this paper, the relationship between the operating condition of the train and the slip frequency has been investigated to find out the optimum slip frequency that might improve the efficiency of the magnetic levitation train with linear induction motor. The slip frequency is variable during the operation by this relationship only within a range that does not affect the levitation system of the train. After that, the comparison of the efficiency between the conventional control method with the slip frequency fixed at 13.5[Hz] and the proposed method with the slip frequency variable from 9.5[Hz] to 6.5[Hz] has been conducted by simulation using Simplorer. Experiments of 19.5[ton] magnetic levitation trains owned by Korea Institute of Machinery and Materials were carried out to verify the simulation results.

• Korea-Australia Rheology Journal
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• 제15권2호
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• pp.55-61
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• 2003

The steady shear flow properties of vaseline generally used as a base of the pharmaceutical dosage forms were studied in the consideration of wall slip phenomenon. The purpose of this study was to show that how slip may affect the experimental steady-state flow curves of semisolid ointment bases and to discuss the ways to eliminate (or minimize) wall slip effect in a rotational rheometer. Using both a strain-controlled ARES rheometer and a stress-controlled AR1000 rheometer, the steady shear flow behavior was investigated with various experimental conditions ; the surface roughness, sample preparation, plate diameter, gap size, shearing time, and loading methods were varied. A stress-controlled rheometer was suitable for investigating the flow behavior of semisolid ointment bases which show severe wall slip effects. In the conditions of parallel plates attached with sand paper, treated sample, smaller diameter fixture, larger gap size, shorter shearing time, and normal force control loading method, the wall slip effects could be minimized. A critical shear stress for the onset of slip was extended to above 10,000 dyne/$\textrm{cm}^2$. The wall slip effects could not be perfectly eliminated by any experimental conditions. However, the slip was delayed to higher value of shear stress by selecting proper fixture properties and experimental conditions.

• 로봇학회논문지
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• 제15권3호
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• pp.221-232
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• 2020

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.669-677
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• 2005

This acticle describes the control method of mobile robots for avoiding slip and turnover on sloped terrain. An inexpensive gyro/vision sensor module is suggested for obtaining the information of terrain at present and future. Using the terrain information and the robot state, the maximum limit velocity of the forward velocity of the robot is defined fur avoiding slip and turnover of the robot. Simultaneously the maximum value of the robot velocity is reflected to an operator in the form of reflective force on a forte feedback joystick. Consequently the operator can recognize the maximum velocity of the robot determined by the terrain information and the robot state. In this point of view, the inconsistency of the robot movement and the user's command caused by the limit velocity of the robot can be compensated by the reflective force. The experimenal results show the effectiveness of the suggested method.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 Proceedings ICPE 98 1998 International Conference on Power Electronics
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• pp.137-142
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• 1998

This paper describes a simple vector control scheme for the wound rotor type induction motors(WRIM) without the additional speed sensor in order to remove the external resistor bank which is usually adapted for the WRIM speed control. The motor angular speed is obtained indirectly from the slip angular speed is obtained indirectly from the slip angular speed and the slip angular speed is estimated by detecting the rotor currents only. Because the motor parameters are not included in the estimation algorithm, the proposed algorithm is free from the variation of the motor parameters and the robust sensorless vector control can be achieved. The performance of the proposed scheme is verified through the digital simulation.

• 전력전자학회논문지
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• 제24권1호
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• pp.25-32
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• 2019

Recent high-end treadmills are demanding stable performance at lower speeds. In this study, a slip control-based induction motor sensorless algorithm for treadmills, which have heavy load variations, is proposed. A modified Gopinath flux estimator is used to evaluate the rotor flux. Results indicate that a good speed regulation performance is achieved even at a low speed of approximately 3 Hz with a nominal exercise load of 90 kg body weight. The slip calculation method in the stationary coordinate system is adopted to improve the control stability. The proposed algorithm is verified throughout the simulation study using PSIM, and the experimental test consists of a commercial treadmill system.