• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.444-451
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• 2005

The analysis of human arm motion during steering maneuver is carried out for investigation of man-machine interface of driver and steering system Each arm is modeled as interconnection of upper arm, lower arm, and hand by rotational joints that can properly represents permissible joint motion, and both arms are connected to a steering wheel through spring and damper at the contact points. The joint motion law during steering motion is determined through the measurement of each arm movement, and subsequent inverse kinematic analysis. Combining the joint motion law and inverse dynamic analysis, joint stiffness of arm is estimated. Arm dynamic analysis model for steering maneuver is setup, and is validated through the comparison with experimentally measured data, which shows relatively good agreement. To demonstrate the usefulness of the arm model, it is applied to study the effect of steering column angle on the steering motion.

• Journal of Astronomy and Space Sciences
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• 제23권4호
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• pp.397-404
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• 2006

Geometric singularity problems are principle difficulties of single-gimbal control moment gyros in spacecraft attitude control. To overcome these singularities, many steering logics have been studied. In this paper, a new null motion steering law is suggested, which is based on the minimization of the directional components of output torque with respect to the required torque. The suggested steering law has been simulated and verified to work well around several critical singular points which have been classified as testing points of avoidance algorithm in previous literatures.

• 대한산업공학회지
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• 제31권4호
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• pp.334-340
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• 2005

A mouse is an important input device that is used in most of all computer works. A mouse control time prediction model was proposed in this study. Especially, the model described the time of mouse control that made a cursor to move within path constraints. The model was developed by a laboratory experiment. Cursor movement times were measured in 36 task conditions; 3 levels of path length, 3 levels of path width and 4 levels of target's width. 12 subjects participated in all conditions. The time of cursor movement with path constraints could be better explained by the combination of Fitts' law with steering law($r^2=0.947$) than by the other models; Fitts' law($r^2=0.740$), Steering law($r^2=0.633$) and Crossman's model($r^2=0.897$). The proposed model is expected to be used in menu design or computer game design.

• 항공우주기술
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• 제7권2호
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• pp.53-57
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• 2008

지식경제부 과제인 중형위성급 제어모멘트자이로 성능검증모델 개발 사업을 수행하면서 연구한 CMG 클러스터의 구동법칙에 대해 알아본다. 본 논문에서는 MP, SR, SR 탈출/회피 구동법칙에 대해 비교를 하고, 각 구동법칙의 성능을 시뮬레이션과 실험을 통해서 확인해보았다.

• 대한기계학회논문집A
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• 제25권7호
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• pp.1039-1046
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• 2001

Among the automotive steering systems, an Electric Power Assisted steering (EPAS) system utilizes an electronically controlled electric motor to provide steering assistance to the driver. The key components of the EPAS system are torque sensor, ECU (Electronic Control Unit), and DC Motor. The most important component of the EPAS is the torque sensor. The conventional torque sensor has complicated mechanical mechanism of torque detection. However, we suggest a non-contact torque sensor for EPAS using Maluss polarization law. It was found that the sensor exhibited not only excellent linearity but also superior characteristics of hysteresis, temperature and vibration.

• 제어로봇시스템학회논문지
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• 제18권4호
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• pp.295-301
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• 2012

This paper deals with the design of robust DSMC (Discrete-Time Sliding Mode Control) scheme in order to overcome system uncertainty in steering system with mechanically joined structure. The proposed control scheme is one of robust control schemes based on system dynamics. Therefore, system dynamics required is not obtained from physical law but SCM (Signal Compression Method) through experiment in order to avoid complicate mathematical development and save time. However, SCM has a shortcoming that is the limitation of with $2^{nd}$ order linear model which does not include the dynamic of high-frequency band. Thus, considering system uncertainty, DSMC is designed. In addition, to reduce the chattering problem of DSMC, DSMC is derived from the reaching law and the Lyapunov stability condition. It is found that the proposed control scheme has robustness in spite of the perturbation of system uncertainty through computer simulation.

• 한국자동차공학회논문집
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• 제5권6호
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• pp.155-166
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• 1997

In this study, a simulation tool is developed in order to investigate non steady-state cornering performance of 6WD/6WS special-purpose vehicles. 6WD vehicles are believed to have good performance on off-the-road maneuvering and to have fail-safe capabilities. But the cornering performances of 6WS vehicles are not well understood in the related literature. In this paper, 6WD/6WS vehicles are modeled as a 18 DOF system which includes non-linear vehicle dynamics, tire models, and kinematic effects. Then the vehicle model is constructed into a simulation tool using the MATLAB /SIMULINK so that input/output and vehicle parameters can be changed easily with the modulated approach. Cornering performance of the 6WS vehicle is analyzed for brake steering and pivoting, respectively. Simulation results show that cornering performance depends on the middle-wheel steering as well as front/rear wheel steering. In addition, a new 6WS control law is proposed in order to minimize the sideslip angle. Lane change simulation results demonstrate the advantage of 6WS vehicles with the proposed control law.

• 한국항공우주학회지
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• 제42권12호
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• pp.1020-1027
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• 2014

CMG의 특이점 회피를 위한 구동법칙의 설계와 관련된 특이성 지수를 분석하였으며, 지수를 선택하거나 개발할 때 필요한 정성적인 적합성 기준을 제시하였다. 빠른 계산과 조건수와의 일치성을 중요한 기준으로 선정하였으며, 이에 따라 세 가지의 변형된 지수를 제안하였다. 유한지수와 무한지수의 특성을 비교하였고, 가중치를 이용하여 두 가지의 장점을 결합하는 방안을 제시하였다. 컴퓨터 시뮬레이션을 이용하여 제안한 방법을 검증하였다.

• 한국융합학회논문지
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• 제3권4호
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• pp.35-44
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• 2012

본 연구에서 모사 프로그램이 6WD/6WS를 가진 특수 목적 차량의 비정상상태 코너링 성능을 조사하기 위해 개발되었다. 6WD 차량은 비포장 도로에서 작전을 수행하기 좋은 성능을 가지고 있고 안전한 성능을 가진 것으로 신뢰받고 있다. 그러나, 6WS 차량들의 코너링 성능은 관련 문헌을 통해서는 언뜻 이해가 어렵다. 본 논문에서는 6WD/6WS 차량들은 비선형 차량 동력학, 타이어 모델, 운동학적 효과 등을 포함한 18 자유도 시스템으로 모델링 되었다. 그리고 그 차량 모델은 입/출력과 차량변수가 수식화된 접근 방법으로 쉽게 변환될 수 있도록 MATLAB/SIMULINK를 사용한 모사 프로그램으로 구성되었다. 6WS 차량의 코너링 성능은 브레이크 휠과 피봇팅 각각으로 해석되었다. 모사 결과들을 보면, 코너링 성능은 전후 휠 조향 뿐만이 아니라 중간 휠 조향에 따라 좌우됨을 보여준다. 덧붙여, 새로운 6WS 제어법칙은 측면 미끄러짐 각을 최소화하기 위해 제안되었다. 차량변경 모사 결과들은 제안된 제어법칙의 6WS 차량의 장점을 보여준다.

• 수산해양교육연구
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• 제5권1호
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• pp.15-22
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• 1993

The Maritime Traffic Safety Law of P. R. China has not the legal nature of navigation rule which regulates the vessel traffic directly but has the legal nature of management to ensure the safety and good order of the whale marine traffic. For that reason, the legal status of this Law is a general basic norm for the marine safety regulations rather than a definite enforcement regulation. This Law does not have any clear statements on adaptation of the steering and sailing rules of the International Regulations for Preventing Collisions at Sea, but it can be presumed the Convention would be applied on the viewpoint of the international practice. The subject matter of this Law is easily understandable, because the IMO and shipping countries have already made similar legislation. Since the maritime traffic condition of the P. R. China also has a direct effect upon the Korean coastal waters, it is essential to observe closely the process of enforcement and development of the P. R. China's Maritime Traffic Safety Law.