• 제목/요약/키워드: Steering Motion

검색결과 194건 처리시간 0.031초

다용도 차량의 선형 모델을 이용한 직진 안전성 및 주파수 응답해석 (Stability and frequency response analysis of multipurpose vehicle using linear vehicle model)

  • 김병기;임원식
    • 한국정밀공학회지
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    • 제14권9호
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    • pp.124-129
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    • 1997
  • The purpose of this study is to predict the stability and frequency response of multipurpose vehicle. The vehicle model has seven degrees of freedom. The motion equations are derived by using Lagrangian equation and linearized. The positions of eigenvalues of model which are dominated by lateral velocity, yaw rate, roll rate of sprung mass are used to predict the stability of motion. The resonse of sprung mass to steering wheel is simulated in time domain. It is predicted that the roll response of sprung mass would rather be improved by modifying the position of eigenvalues. The responses of sprung mass to steering wheel are also simulated in frequency domain. The magnitude and phase plots of gains are evaluated in driver's steering input frequency range.

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병렬구조형 차량운전 모사장치의 성능평가 및 분석 (Analysis and performance evaluation of the parallel typed for a vehicle driving simulator)

  • 박일경;박경균;김정하;이운성
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.1481-1484
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    • 1997
  • The vehicle driving simulator expects vehicle motion with real-time simulation arise from driver's steering, accelerating, stopping and simulates motion of vehicl with visula, audio and washout algorithm. And it gives a vivid feeling to driver in reality. Vehicle driving simulator with vehicle integration control system is used for analysis of analysis of vehicle controllaility, steering capacity and safety in various pseudo environment alike. basides, it analyzeds vehicle safety factor dirver's reaction and promotes traffic safety without driver's own risks. The main proceduress of development of the vehicle driving simulator are classified by 3 parts. first the motion base system which can be generated by the motion queues, should be developed. Secondly, real-time vehicle software which can afford the vehicle dynamics, might be constructed. The third procedure is the integration of vehicle driing simulator which can be interconnected between visual systems with motion base. In this study, we are to study of the motion base for a vehicle driving simulator design and that of its real time control and using an extra gyro sensor and accelerometers to find a position and an orientatiion of the moving platform except for calculating forward kinematics. To drive the motion base, we use National Instruments corp's Labview software. Furthemore, we use analysis module for the vehicle motionand the washout algorithm module to consummate driving simulator, which can be driven by human in reality, so we are doing experimentally process about various vehicle motion conditon.

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$6{\times}6$ 가변 현수형 무인차량의 주행 분석 및 제어에 관한 연구 (Study on Vehicle Motion Analysis and Control for Skid Steering UGVs with Articulating Arms)

  • 강신천;허진욱;이상훈;지태영
    • 한국군사과학기술학회지
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    • 제14권5호
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    • pp.747-752
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    • 2011
  • Recently, skid steering methods have been increasingly applied to unmanned ground vehicles since they can provide a narrow turn that general steering methods like ackerman steering may not provide. However, dynamic behaviors of the skid steering vehicles with articulating arms which occur during a steering are very complicated and coupled. This makes it difficult to control vehicles and in severe case vehicles may loose stability. There are two methods to control unmanned ground vehicles. The first one is speed control method generally used with easiness and robustness in remote vehicle control. The next one is torque control allowing the vehicles to get better performance in several cases provided careful application is achieved. This paper addresses dynamic phenomena of skid steering vehicles during steering and compares with vehicle driving control methods between torque(traction force) control and speed control.

비선형 차량모델 모의 실험의 경로제어 (PATH CONTROL FOR NONLINEAR VEHICLE MODELS)

  • J.N. Lee
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1996년도 춘계학술대회 논문집
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    • pp.383-387
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    • 1996
  • This paper presents a steering control strategy applicable to vehicle path following problems. This control strategy is based on realistic nonlinear equations of motion of multibody systems described in terms of relative joint coordinates. The acceleration of the steering angle is selected as a control input of the system. This input is obtained by considering position and slope errors at current and at advance times. This steering control strategy is tested in circular and lane change maneuvers with a nonlinear vehicle model.

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항공 정찰용 Step-stare 영상획득 시스템 설계 (Design of the Step-stare Image Gathering System for an Aerial Reconnaissance)

  • 백운혁;박재영;안정훈;이정석
    • 한국정밀공학회지
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    • 제31권9호
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    • pp.813-820
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    • 2014
  • This paper presents design and performance validation of a method for motion compensation using fast steering mirror. First of all, the schematics of the Electro Optical/Infra-Red (EO/IR) and step-stare image gathering system for an aerial reconnaissance are introduced. Because of the steering mirror with low inertia so called Back scan mechanism (BSM), the fast step-stare image gathering technique that is required for taking a high-definition still image will be realized. After then, the BSM hardware includes motors and feedback sensors are introduced. Also, the motion profile for BSM will be designed to compensate roll scan motion of the gimbals. At the end of this paper, designed profile and tracking performance of the EO/IR system with BSM will be validated through experiments.

현가장치 운동량을 고려한 조향 안정성 향상 (Enhancement of Steering Stability Considering Suspension Movement)

  • 채유진;신병철;송성은;이형욱
    • 융복합기술연구소 논문집
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    • 제12권1호
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    • pp.31-35
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    • 2022
  • This study has been carried out in order to improve the rolling problem by enhancing steering stability compared to the 2021 Student Car of the KNUT_EV team for KSAE. Among the various factors affecting steering performances, it was focused on the height of the centroid of weight, the motion ratio, and the spring deflection. In the 2022 Car, a pull rod suspension was used to reduce the height of the centroid of weight and designed with a structure of the rod and rocker to satisfy the target motion ratio. The spring deflection was testified by ADAMS and ABAQUS analysis, and the spring stiffness was selected at 350lb/inch and 450lb/inch for the front and rear wheels, respectively. As a result, the rolling angle of the 2022 Car was reduced compared to the 2021 Car, and the rolling phenomenon was improved.

휠 세트 Yaw 운동을 고려한 바퀴와 선로 사이의 3차원 접촉 기하 해석 (Analysis of 3-dimensional Wheel/Rail Contact Geometry Considering Wheelset Yaw Motion)

  • 김도중;박삼진
    • 한국기계연구소 소보
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    • 통권15호
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    • pp.5-17
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    • 1985
  • Dynamics of railway vehicles are strongly influenced by the wheel/rail contact forces. Wheel/rail contact geometric characteristics are important parameters to determining wheel/rail contact forces. In general, geometric relations between wheel and rail are represented by nonlinear functions of the wheelset lateral excursion and the relative yaw angle. There are some analytical and experimental studies to show the influences of the wheelset lateral displacement on wheel/rail geometric relations. Recently radial steering bogie which is designed to have flexible yaw motions of wheelsets was developed to improve curve negotiation performance. The radial steering bogie makes it important problem to study the effects of wheelset yaw motion on wheel/rail geometric relations. This paper describes the method to analyze 3-dimensional wheel/rail contact geometry considering wheelset yaw motion and describes also some computer simulation results.

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독립 전륜 조향 및 4륜 구동을 이용한 전기 차량의 선회 운동 향상 (Improvement of the Yaw Motion for Electric Vehicle Using Independent Front Wheel Steering and Four Wheel Driving)

  • 장재호;김창준;김상호;강민성;백성훈;김영수;한창수
    • 제어로봇시스템학회논문지
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    • 제19권1호
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    • pp.45-55
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    • 2013
  • With the recent advancement of control method and battery technology, the electric vehicle have been researched to replace the conventional vehicle with electric vehicle with the view point of the environmental concerns and energy conservation. An electric vehicle which is equipped with the independent front steering system and in-wheel motors has advantage in terms of control. For example, the different torque which generated by left and right wheels directly can make yaw moment and the independent steering using outer wheel control is able to reduce the sideslip angle. Using of independent steering and driving system, the 4 wheel electric vehicle can improve a performance better than conventional vehicle. In this paper, we consider the method for improving the cornering performance of independent front steering system and in-wheel motor used electric vehicle with the compensated outer wheel angle and direct yaw moment control. Simulation results show that the method can improve the cornering performance of 4 wheel electric vehicle. We also apply the steering motor failure to steer the vehicle turned by the torque difference without steering. This paper describes an independent front steering and driving, consist of three parts; Vehicle Model, Control Algorithm for independent steering and driving and simulation. First, vehicle model is application of TruckSim software for independent front steering and 4 wheel driving. Second, control algorithm describes the reduced sideslip and direct yaw moment method in view of cornering performance. Last is simulation and verification.

조타장치 제어에 의한 횡동요 감소 효과 (Effects for reduction of roll motion by the control of steering gear)

  • 최찬문;이창헌;안장영;요시무라 야스오
    • 수산해양기술연구
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    • 제47권1호
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    • pp.37-45
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    • 2011
  • Reduction of ship's rolling is the most important performance requirement for improving the safety of the crew on board and preventing damage to cargo as well as improving the comfort of the ride. It is a common experience for mariners, to see that steering with a rudder generally induces rolling of the ship, though the original aim of the rudder is to keep the ship's heading to the required course. At the first stage, when a rudder is steered, usually a ship heels in an inward direction, due to the roll moment acting on the rudder. At the next stage in steering, the main heel may change to an outward. This coupling between rudder and roll motion has become an attractive problem from the point of view of roll stabilization using the rudder, because it is a natural in sight that if the rudder action is skillfully related to the change of roll as well as to the course deviation, the roll can be reduced to a certain degree. The main aim of this paper is to discuss the results of the actual full-scale sea trials carried out on steer gear No.1 and No.1 2, the individual quartermaster and to make clear their statistical properties, using the actual data which included measurement of roll angle, roll rate and the comparative tests were carried out immediately after each other, in order to minimize any statistical variation in sea conditions. It can be concluded that the steer gear No. 1 2 reduced the roll motion on average by about 21% in comparison with the No.1 and confirmed the some difference as per a ability of quarter-master's maneuver.

진자 구동 방식의 구형 이동 로봇 개발 (Development of a Pendulum-driven Type Spherical Mobile Robot)

  • 김자영;권혁조;김대현;최희병;이지홍
    • 대한전자공학회:학술대회논문집
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    • 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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    • pp.124-126
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    • 2009
  • In this paper a pendulum-driven type spherical mobile robot is introduced. Many researchers have been studied about a spherical mobile robot. we developed a pendulum-driven type spherical mobile robot and analyzed mechanism of pendulum motion. Mechanism of pendulum motion applied to the robot. Consequently, we could verify the motion of the robot as motion of pendulum.

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