• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1874-1879
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• 2004

This paper validates new type electric power steering (EPS) system which is driven by a uni-direction rotational motor and two electromagnetic clutches. The assist motor of the new type EPS produces a torque for assisting the steering in only one direction and two electromagnetic clutches transmit the assist torque to the pinion gear in either left or right direction with respect to the steering rotation. In order to evaluate the static and dynamic characteristics of the new type EPS, the EPS has been modeled by using the well known customized software such as MSC.ADAMS and MSC.CarSim. The ADAMS software has been used to investigate the static characteristics of the proposed system. ADAMS, however, can not describe dynamics of a vehicle and perform the simulation under the various road conditions. Thus the dynamic characteristics of the vehicle including the EPS are analyzed very well by using the CarSim software. A sinusoidal steering input command is applied to the propose EPS system in order to evaluate the static characteristics, while the double lane changes are applied to the vehicle with the EPS in order to evaluate the dynamic performance. Through a series of simulations, we can conclude that the propose EPS shows the stable dynamic characteristics when the rotational direction is changed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.6 s.249
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• pp.684-690
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• 2006

This study proposes and validates a new column type electric power steering system (EPS-TT). It is driven by a uni-directional motor and two electro-magnetic clutches. The assist motor produces assist torque in only one direction and two clutches transmit the torque to the column of steering system in either left or right direction with respect to the steering input. A full order and a reduced order models are developed to evaluate the EPS-TT. Models are also used to investigate the vehicle responses. A PID control logic is designed to control the torque of the assist motor. A driver model is applied to the system and the resulting performances are analyzed. The results show that the performances of the full order model are similar to those of reduced order model. The results also prove that the performances achieved by the EPS-TT are improved compared to those of a conventional EPS-TT across the frequency domain.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11c
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• pp.707-714
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• 2000

For self-guiding track-type orchard sprayer, a low-cost steering controller was developed using two ultrasonic sensors, two DC motors and 80196kc microprocessor. The operating principle of controller was to travel the sprayer between artificial targets such as wood stick placed every 1 m along both sides of the demanded path of speed sprayer. Measuring distances to both targets ahead with the ultrasonic sensors mounted on the front end of sprayer, the controller could determine how much offset the position of sprayer was laterally. Then the steering angle was calculated to actuate DC motors connected to the steering clutches, where the fuzzy control algorithm was used. Equipped with the controller developed in this research, the sprayer could be traveled along demanded path, the centerline between targets, at speeds of up to 0.4m/sec with an accuracy of ${\pm}$20cm.

• Agricultural and Biosystems Engineering
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• v.2 no.2
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• pp.50-58
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• 2001

Chemical application is very hazardous in confined spaces under the canopy ceiling in Korean vineyard. For a small orchard sprayer adaptable to such a working condition, a low-cost autonomous steering control system was developed using two ultrasonic sensors, two electrically-operated cylinders and 80196kc microprocessor. A distance ranging system timed the round-trip for each ultrasonic wave to travel against parallel targets, placed every 1.5m spacing along both sides of a desired path. A steering control algorithm of the autonomous operation began with ranging left and right targets and the heading was decided using difference between the distances. Electrically-operated cylinders actuated steering clutches to guide the sprayer. Evaluation tests showed that the orchard sprayer could travel within RMS value of 5cm along the desired path. Ground speed did not affect the performance of the autonomous guidance system at the speed ranges of 0.29~0.52m/sec.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.5
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• pp.154-161
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• 2004

A new column type electric power steering system (EPS-TT) is proposed in this study. The remarkable features of EPS-TT are its opto-isolated torque sensor and assist torque control methodology. EPS-TT uses a uni-directional motor and two clutches. Full order and simplified models for EPS-TT are developed to evaluate the EPS-TT. A full car model is also used to investigate the vehicle responses. A PID control logic is designed to control the torque of the assist motor. Various sinusoidal inputs are applied to the system and the resulting performances are analyzed. The results prove that the performances achieved by the EPS-TT are improved compared to those of a conventional EPS-TT across the frequency domain. In addition, it is inexpensive and easy to control the motor. The results of the full order steering system model are similar to those simplified model, but the vehicle responses are slightly different.

• Journal of Applied Reliability
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• v.11 no.4
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• pp.331-342
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• 2011

The transmission of tracked vehicles performs complex functions as steering, shifting, braking, etc. and the system level life time has been a key influenced by the number of sub-parts like as gear assembly, torque converter, clutches, bearings and so on. In particular, the mechanical type steering system in tracked vehicle has impact shock torques in steering shift and those kind of shock torques can effect on the durability of many sub-parts in power train system. The field failure modes of gear assembly, steering assembly and the bearings of output shaft appear as a very complex phenomenon. In this study, the actual failure, which may occur in field, of the transmission was investigated comprehensively and that the endurance test on the resulting output shaft bearing failure analysis and life assessment was performed. Life time test method used in this study, developed for the purpose of the internal usage, and under these testing techniques the impact of the each bearing damage, which used in tracked vehicle transmission left / right outputs of different structures, was analyzed.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.1102-1109
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• 1993

This paper describes the research and development of Walking Tractors and Tillage Implements for Phase I (1991-1992) . The project consists of : (1) the study and need for the development of the walking tractors for Thailand and other Southeast Asian countries ; (2) the comparison in the use of the walking tractors and their transmission systems that are made in Thailand and aborad : and (3) the design of future walking tractors for Asian farmers in developing countries. The design of the walking tractors is concentrated to provide the ease to farmers, especially the elderly and female which will play an important role in the future agriculture of Thailand due to the lack of manpower. In addition , the design of the walking tractors is also aiming for small-scale farmers, the majority that have limited land capital. The walking tractors consist of several components but the most important one is the " Transmission System" . Thus, the research is concentrated in the devel pment an design of the a new transmission system. The new machine , currently developed, is named after the Chulalongkron University as " Chular Walking Tractor " , model SPJS -60. The tractor uses a 6-7 horsepower diesel engine with three forward gears and one reverse gear. The tractor also uses the latest gearing technology so called planetary gearing system with steering clutches system that never been used in any earlier model. The advantages of the planetary gearing system are : (1) the final drive gear can be small, and can be designed to provide higher strength with less wearing resistance, (2) the system eliminates a shaft which is used in other systems, thus reduces the weight and the manufacturing cost . Furthermore, the Chular Walking Tractor has an additional power take off shaft that can be used or linked with other standard agricultural implements.