• 제목/요약/키워드: Steering Motion

검색결과 194건 처리시간 0.027초

조종자 입력패턴을 활용한 RIB형 무인선의 침로제어기 설계 (Design of Course Keeping Controller for RIB-type USV Using a Pilot's Steering Pattern)

  • 윤근항;여동진;윤현규
    • 대한조선학회논문집
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    • 제47권3호
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    • pp.462-468
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    • 2010
  • A new course keeping controller for RIB(Rigid Inflatable Boat)-type USV(Unmanned Surface Vehicle) is developed using pilot's steering pattern. A pilot's simple steering pattern is found out from various course change tests. It is used to course keeping algorithm, suitable for large course change more than 60 degrees. To validate the course keeping controller, sea trial tests are conducted. From sea trial test, new course keeping controller shows good performance with less overshoot, maximum roll angle less than $20^{\circ}$, which makes it possible that fast course changes without slip motion of USV.

차량동역학 프로그램 CADyna를 이용한 초향장치 중간축 설계 및 해석 (Design and Analysis of Intermediate Shaft of the Steering System using Vehicle Dynamics Program CADyna)

  • 김승오;유완석;김정배
    • 한국자동차공학회논문집
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    • 제10권3호
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    • pp.185-191
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    • 2002
  • A window-based multibody dynamics program CADyna(Computer Aided Dynamics) is developed and applied for kinematic and dynamic analysis ova steering system. The program is composed oft pre-processor, a main processor, and a post-processor. The pre-processor is developed with Visual C7+ and the post-processor is developed with OpenGL and TeeChart. The main processor generates the equations of motion employing velocity transformation technique. The developed program is customized for the design of an intermediate shaft in a steering system.

차동 제동을 이용한 조향 제어 시뮬레이션 (Simulation of Vehicle Steering Control through Differential Braking)

  • 제롬살랑선네;윤여흥;장봉춘;이성철
    • 한국정밀공학회지
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    • 제19권11호
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    • pp.65-74
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    • 2002
  • This paper examines the usefulness of a Brake Steer System (BSS), which uses differential brake forces for steering intervention in the context of Intelligent Transportation Systems (ITS). In order to help the car to turn, a yaw moment can be achieved by altering the left/right and front/rear brake distribution. This resulting yaw moment on the vehicle affects lateral position thereby providing a limited steering function. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. A 8-DOF nonlinear vehicle model including STI tire model will be validated using the equations of motion of the vehicle. Then a controller will be developed. This controller, which will be a PID controller tuned by Ziegler-Nichols, will be designed to explore BSS feasibility by modifying the brake distribution through the control of the yaw rate of the vehicle.

D$^*$Model Matching Control System for Four Wheel Steering

  • Asara, Naoki;Osa, Yasuhiro;Uchikado, Shigeru;Kanai, Kimio
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.670-674
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    • 2005
  • $D^*$ criterion is defined as a reference of the handling quality and ride comfortableness for lateral-directional automobile motion. However it is generally difficult to obtain the satisfied handling quality and ride comfortableness based on $D^*$ criterion by conventional two wheel steering system. In this study, a design method of model matching control system is proposed to obtain the satisfied $D^*$ response of 4 Wheel Steering.

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횡풍하의 차량 외란 추정을 이용한 차선 유지 조향 보조 제어기 설계 (Design of Lane Keeping Steering Assist Controller Using Vehicle Lateral Disturbance Estimation under Cross Wind)

  • 임형호;좌은혁;이경수
    • 자동차안전학회지
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    • 제12권3호
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    • pp.13-19
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    • 2020
  • This paper presents steering controller for unintended lane departure avoidance under crosswind using vehicle lateral disturbance estimation. Vehicles exposed to crosswind are more likely to deviate from lane, which can lead to accidents. To prevent this, a lateral disturbance estimator and steering controller for compensating disturbance have been proposed. The disturbance affecting lateral motion of the vehicle is estimated using Kalman filter, which is on the basis of the 2-DOF bicycle model and Electric Power Steering (EPS) module. A sliding mode controller is designed to avoid unintended the lane departure using the estimated disturbance. The controller is based on the 2-DOF bicycle model and the vision-based error dynamic model. A torque controller is used to provide appropriate assist torque to driver. The performance of proposed estimator and controller is evaluated via computer simulation using Matlab/Simulink.

척형선박과 비대형선박의 침로안전성의 비교에 관한 연구 (A Study on the Comparison of course Stabilities between Fine-form Ships and Full-form Ships)

  • 황해성;이동섭;윤점동
    • 한국항해학회지
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    • 제16권3호
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    • pp.33-41
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    • 1992
  • Handling performance of a vessel is greatly related with her steering characteristics which consist of two kinds of motion characteristics ; namely course stability and turning ability. The correct prediction of the qualities, especially the steering characteristics is as much important in ship handling as in ship design. It is the purpose of this paper to provide ships handlers better understanding of steering characteristics and then to help them in safe controlling and maneuvering of vessels presenting distinct inherent steering characteristic difference that lies between a fine-form vessel and full-form vessel. The authors calculated dynamic course stabilities of two kinds of ideal models, one of which represents a fine-form ship and the other a full-form ship, based on hydrodynamic data of forces and moments obtained by model tests in maneuvering tanks. The result of calculations indicated that a ship of full-form configuration has inhernet course instability. Though significant nonlinearties affect ship montions in maneuvers, application of linear theory is sufficient for prediction of the maneuvering characteristics of vessels on calm waters for handling reference.

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Simulation of Vehicle Steering Control through Differential Braking

  • Jang, Bong-Choon;Yun, Yeo-Heung;Lee, Seong-Cheol
    • International Journal of Precision Engineering and Manufacturing
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    • 제5권3호
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    • pp.26-34
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    • 2004
  • This paper examines the usefulness of a Brake Steer System(BSS), which uses differential brake forces for steering intervention in the context of Intelligent Transportation Systems(ITS). In order to help the car to turn, a yaw moment control was achieved by altering the left/right and front/rear brake distribution. This resulting yaw moment on the vehicle affects lateral position thereby providing a limited steering function. The steering function achieved through BSS was used to control lateral position in an unintended road departure system. A 8-DOF nonlinear vehicle model including STI tire model was validated using the equations of motion of the vehicle. Then a controller was developed. This controller, which is a PID controller tuned by Ziegler-Nichols, is designed to explore BSS feasibility by modifying the brake distribution through the control of the yaw rate of the vehicle.

애커먼 조향 이동로봇의 주행 안정성을 고려한 원격운용 시스템 설계 (Design of Teleoperation System for Ackermann-steering Mobile Robot considering Driving Stability)

  • 이동현
    • 대한임베디드공학회논문지
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    • 제17권2호
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    • pp.109-114
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    • 2022
  • This paper proposes a 2D joystick and LoRa-based teleoperation system for the Ackermman steering mobile robot. The proposed joystick mapping algorithm reduces the linear speed of the robot when the joystick is steered in the direction of the maximum steering angle in the high-speed driving state of a mobile robot to reduce the risk of rollover. The LoRa-based remote operation system is designed for remote operation of mobile robots that require long range communication with relatively little data transmission and low power. The proposed system is implemented and the experimental results demonstrate the effectiveness of the teleoperation system with respect to the stability of communication strength and the robot motion.

스마트워치를 이용한 자동차운전자 구분 및 핸들의 회전 방향 인지 기법 (A Method for Driver Recognition and Steering Wheel Turning Direction Estimation Using Smartwatches)

  • 허준;최재혁
    • 전기전자학회논문지
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    • 제23권3호
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    • pp.844-851
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    • 2019
  • 웨어러블 디바이스의 대중화에 따라 디바이스 내에 탑재된 다양한 센서를 활용하여 동작 인식, 헬스케어, 안전 보조 등 다양한 스마트 서비스를 제공하는 애플리케이션이 급증하고 있다. 본 논문에서는 9축 관성 센서가 탑재된 스마트워치를 이용하여 운전자를 인식하고, 운전 중 운전자의 자동차 핸들의 회전각을 탐지하는 방법을 제안한다. 제안하는 시스템은 i) 스마트워치 위치 인식, ii) 운전자 인식, iii) 핸들의 회전각 계산, 3가지 단계로 구성되어 있다. 이를 위해, IMU 센서와 아두이노(Arduino)를 이용하여 웨어러블 디바이스의 시제품을 자체 제작하고 제안하는 시스템을 구현 하였다. 실험을 통해 핸들의 회전 방향을 높은 정확도로 계산할 수 있고 회전각 또한 평균 $11.77^{\circ}$의 낮은 오차를 보여 제안하는 시스템의 실효성을 입증하였다.

Conceptual design and analysis of remote steering system for CFETR ECRH system

  • Chao Zhang;Xiaojie Wang;Dajun Wu;Yunying Tang;Hanlin Wang;Dingzhen Li;Fukun Liu;Muquan Wu;Peiguang Yan;Xiang Gao;Jiangang Li
    • Nuclear Engineering and Technology
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    • 제56권2호
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    • pp.451-462
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    • 2024
  • In order to optimize the operational safety and reliability of the upper launcher for the CFETR ECRH system, a design of the launcher based on the remote steering concept is currently being carried out for comparison with the front steering equivalent. This paper presents the remote steering system's conceptual design and simulation analysis. A Square Corrugated Waveguide (SCW) of 65 × 65 mm has been designed with an optimized length of 9.35 m. By changing the relative length of the waveguide, the transmission efficiency of the SCW is optimized within the range of steering angles ±12°. Different error factors are investigated in detail, and corresponding acceptable error ranges are provided. Considering these error factors and ignoring ohmic losses and thermal effects, the relative transmission efficiency of the SCW is estimated to be >98 % within the steering angle range. A matching steering unit for the SCW is designed, which consists of an ellipsoidal focusing mirror and a steerable flat mirror. The detailed design of the steerable mirror motion trajectory is presented. Also, the influence of the possible beam incident errors caused by the steering unit on the transmission efficiency is analyzed in detail.