• International Journal of Automotive Technology
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• 제8권3호
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• pp.299-308
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• 2007

This study proposes a two-layer hierarchical control system that integrates active front wheel steering and four wheel braking torque control to improve vehicle handling performance and stability. The first layer is a robust model matching controller (R-MMC) based on linear matrix inequalities (LMIs), which optimizes an active front steering angle compensation and a desired yaw moment control, and calculates reference wheel slip for the target wheel according to the desired yaw moment. The second layer is a moving sliding mode controller (MSMC) that can track the reference wheel slip in a predetermined time by commanding proper braking torque on the target wheel to achieve the desired yaw moment. Since vehicle sideslip angle measurement is difficult to achieve in practice, a sliding mode observer (SMO) that requires only vehicle yaw rate as the measured input is also developed in this study. The performance and robustness of the SMO and the integrated control system are demonstrated through comprehensive computer simulations. Simulation results reveal the satisfactory tracking ability of the SMO, and the superior improved vehicle handling performance, stability and robustness of the integrated control vehicle.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2015년도 제46회 하계학술대회
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• pp.123-124
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• 2015

본 논문에서는 동기전동기(PMSM: Permanent Magnet Synchronous Motor)의 고정자 형상 변화를 통한 코깅토크(Cogging Torque)와 토크리플(Torque Ripple)저감에 대해 다루고자 한다. 고정자의 치의 두께와 길이에 변화를 주면서 FEM(Finite Elements Method)기반의 성능분석을 실시하여 각 형태에 대한 평균토크, 토크리플, 코깅토크를 분석, 비교해보았다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.291-291
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• 2000

A vehicle driving simulator is a virtual reality device which a human being feels as if the one drives a vehicle actually. Driving Operation System acts as an interface between a driver and a driving simulator. This paper suggests the driving operation system for a driving simulator. This system consists of a controller, DC geared motor, MR brake, rotary encoders, steeping motor and bevel gear box. Reaction force and torque on the steering system were made by DC_Motor and MR_Brake. Reaction force and torque on the steering system were compare between real car and a driving simulator. The controller based on the 80C196KC micro processor that manage and transfer signal.

• 농업과학연구
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• 제50권4호
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• pp.773-784
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• 2023

In this study, we developed a dynamic model and steering controller model for an autonomous tractor and evaluated their performance. The traction force was measured using a 6-component load cell, and the rotational speed of the wheels was monitored using proximity sensors installed on the axles. Torque sensors were employed to measure the axle torque. The PI (proportional integral) controller's coefficients were determined using the trial-error method. The coefficient of the P varied in the range of 0.1 - 0.5 and the I coefficient was determined in 3 increments of 0.01, 0.05, and 0.1. To validate the simulation model, we conducted RMS (root mean square) comparisons between the measured data of axle torque and the simulation results. The performance of the steering controller model was evaluated by analyzing the damping ratio calculated with the first and second overshoots. The average front and rear axle torque ranged from 3.29 - 3.44 and 6.98 - 7.41 kNm, respectively. The average rotational speed of the wheel ranged from 29.21 - 30.55 rpm at the front, and from 21.46 - 21.63 rpm at the rear. The steering controller model exhibited the most stable control performance when the coefficients of P and I were set at 0.5 and 0.01, respectively. The RMS analysis of the axle torque results indicated that the left and right wheel errors were approximately 1.52% and 2.61% (at front) and 7.45% and 7.28% (at rear), respectively.

• 드라이브 ㆍ 컨트롤
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• 제12권1호
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• pp.15-20
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• 2015

For testing a newly designed ship's steering gear, a steering gear test bench with a steering gear to be tested and a load generation part should be prepared. The load given to the steering gear has to be pertinent to the load generated in a targeted ship. In this study, the authors suggest a process of estimating the load given to steering gears in ships. At first, a test for measuring the load in the steering gear of a real ship was conducted. Then, a process was developed to compute rudder driving torque and force by using basic equations including some empirical equations on ship's steering. The test results and the computation results on the load in the steering gear were compared, As a result, the process suggested in this study for estimating load in ship's steering gears was verified.

• 한국전자파학회논문지
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• 제22권9호
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• pp.868-874
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• 2011

본 논문은 분해능이 향상된 인덕티브 방식 토크 센서의 새로운 구조를 제안한다. 토크 센서의 결합 구조와 수신 코일의 감김 수를 변화시켜 분해능을 증가시켰다. 이 토크 센서는 비접촉식으로 마모가 없기 때문에 내구성이 높으며, 진동이나 기구의 비틀림 등에 의한 편차가 적고, EMC(Electromagnetic Compatibility) 및 온도 특성이 우수하다.

• 한국자동차공학회논문집
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• 제21권6호
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• pp.201-208
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• 2013

Recently, there has been an active study about weight reduction for automotive. This study is prediction and evaluation of one pice type steering component, which is universial joint. Steering system is a core of major safe device in vehicle. Universial shaft adopted in steering system transmit steering torque between olumn and steering gear. Conventional universial shaft is produced by welding process because of geometric complexity. But welding process has some weakness such as deflection on surface, residual stress, and deteronration of material properties so it can deteriorate durability of vehicle.

• 전기학회논문지
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• 제58권10호
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• pp.1923-1929
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• 2009

The design of SPMSM(surface mounted permanent magnet synchronous motor) has been performed to reduce cogging torque and torque ripples. In general, cogging torque and torque ripples are affected by the shapes of teeth width, yoke depth, magnet pole arc, etc. Particularly, the minimum design point of cogging torque and torque ripples are different so that the design of SPMSM should be done to compromise both of them for precision application. In this paper, the design of PMSM for EPS(electric power steering) system is performed to verify the validity, and the design characteristics versus teeth width, yoke depth, and magnet pole arc are investigated in order to find out the minimum point of cogging torque and torque ripples. In addition, skew of PM is applied for cogging torque reduction.

• 센서학회지
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• 제26권6호
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• pp.432-437
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• 2017

As 4.0 industry has been developed, research on a self-driving car technology and related parts of an automobile has been highly investigated recently. Particularly, a TAS(Torque Angle Sensor) module on steering wheel system has been considered as a key technology because of its precise angle, torque detection and high speed signal processing. The environmental assessment is generally required on the TAS module to examine high resolution of angle/torque detection. In the case of existing TAS module, angle detection errors has been occurred by back-lash on main and sub gear in addition to complicated structure caused by gears. In this paper, a structure of the TAS module, which minimizes the numbers of components and angle detection errors on the module compared with the existing TAS module, for vehicle steering system based on a Multi-track Encoder has been proposed. Also, angle detection signal processing board, and key technology of the TAS module were fabricated and evaluated. As a result of the experiments, we confirmed an excellent performance of the fabricated signal processing board for angle detection and an applicability of the fabricated angle detection board on the TAS module of vehicles by the environmental assessment an automobile standard.

• 한국산학기술학회논문지
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• 제12권9호
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• pp.4083-4094
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• 2011

전기식 파워 스티어링(EPS)은 유압식 파워스티어링에 비해 연비가 높고 스티어링 느낌이 좋으며 체적이 작으므로 자동차에 많이 적용되고 있다. 몇 년 전까지 대부분의 EPS 시스템에는 제어가 쉽고 하드웨어 구조가 간단한 영구자석 DC 모터가 주로 적용되었으나 최근에는 효율이 높고 수명이 긴 BLAC 모터가 적용되고 있다. 본 논문에서는 최근에 발표된 논문들을 기초로 EPS 시스템의 구조 및 BLAC 모터와 제어기술에 대해 고찰한다. 또한 스티어링 느낌을 좋게 하기 위한 토크리플 저감 및 안전을 위한 고장검출 알고리즘에 대해서도 검토한다.