• 동력기계공학회지
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• 제8권4호
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• pp.57-63
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• 2004

Conventionally, 2WS is used for vehicle steering, which can only steering front wheel. In case of trying to high speed lane change or cornering through this kind of vehicle equipped 2WS, it may occur much of Yaw moment. On the other hand, 4WS makes decreasing of Yawing Moment, outstandingly, so it is possible to support vehicle movement stable. And conventional ABS and TCS can only possible to control the longitudinal movement of braking equipment and drive which can only available to control of longitudinal direction. There after new braking system ESP was developed, which controls both of longitudinal and lateral, with adding of the function of controlling Active Yaw Moment. On this paper, we show about not only designing of improved braking and steering system through establishing of the integrated control system design of 4WS and ESP but also designing of the system contribute to precautious for advanced vehicle stability problem.

• 한국자동차공학회논문집
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• 제5권3호
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• pp.209-219
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• 1997

A fuzzy driver model based on a preview-predictor and yaw rate is developed. The model is used to investigate the handling performance of two wheel steering system(2WS) and four wheel steering system(4WS) vehicles. The two degree-of- freedom model which has yaw and lateral motion predicts the path of the vehicles. Based upon the yaw rate and lateral deviations, the fuzzy engine describes the human driver's complicated control behavior which is adjusted for the driving environment. Both typical single lane change maneuver and double lane change maneuver are adopted to demonstrate the feasibility of fuzzy driver model.

• 한국자동차공학회논문집
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• 제15권6호
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• 한국전자통신학회논문지
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• 제13권4호
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• pp.705-712
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• 2018

위상배열안테나는 빔 조향 각도에 따라 방사 특성이 변화한다. 모노펄스 추적 시스템은 합 및 차신호의 방사특성을 기반으로 추정 각을 산출하는 시스템이다. 따라서 위상배열안테나를 이용한 모노펄스 추적 시스템의 경우, 빔 조향 각도에 따라 모노펄스 비율 곡선이 변화하기 때문에 추적정확도가 낮아지는 문제가 발생한다. 단일 채널 모노펄스 시스템의 경우, 시스템 구성 변수의 변화를 통해 모노펄스 비율 곡선이 제어된다. 본 논문에서는 빔 조향 각도에 모노펄스 시스템 구성 변수를 적응형으로 제어하는데 참조할 수 있는 간소화된 수식을 제시하였다. 제시된 수식은 빔 조향 각도뿐만 아니라 방사 특성에 영향을 주는 위상배열안테나 설계 변수에 대응하여 균일한 모노펄스 비율 곡선을 유도할 수 있다.

• 한국유체기계학회 논문집
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• 제10권1호
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• pp.34-40
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• 2007

In this study, the characteristic of a vane pump of automotive power steering system is numerically analyzed. The vane pump changes the energy level of operation fluid by converting mechanical input power to hydraulic output. To simulate this mechanism, moving mesh technique is adopted. As a result, the flow rate and pressure are obtained by numerical analysis. The flow rate agrees well with the experimental data. Moreover, the variation and oscillation of the pressure around the rotating vane are observed. As a result of flow characteristics, The difference of pressure between both side of vane tip causes the back flow into the rotor. As the rotational velocity increases, the flow rate at the outlet and the pressure in the vane tip rises with higher amplitude of oscillation. In order to reducing the oscillation, the design of devices for decreasing the cross-area of the outlet part and returning the flow from the outlet to the inlet is required.

• 한국산학기술학회논문지
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• 제16권7호
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• pp.4842-4848
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• 2015

본 논문은 재구성 빔 스티어링 안테나와 전방향성(루프) 안테나 간 정지상태와 이동상태일 때 통신 성능 비교를 보여준다. 두 안테나는 동일한 직물(${\varepsilon}_r=1.35$, $tqn{\delta}=0.02$) 위에 제작되었으며 5 GHz 대역에서 동작한다. 재구성 안테나는 빔 방향을 조향할 수 있도록 설계되었다. 빔 스티어링 기능을 수행하기 위해 안테나는 두 개의 핀 다이오드를 사용한다. 측정된 최대 이득은 5.9-6.6 dBi 이고 반 전력 빔 폭(HPBW)는 $102^{\circ}$ 이다. 통신효율을 비교하기 위해 GNU Radio Companion 소프트웨어툴과 USRP(User Software Radio Peripheral) 장비를 이용하여 두 안테나의 BER(Bit Error Rate)과 SNR(Signal-to-Noise Ratio)를 측정하였다. 그리고 송, 수신 안테나 사이의 일정한 거리에서 수신 안테나가 고정된 상태와 이동중인 상태 두 가지 경우를 비교하였다. 본 측정은 이상적인 전파환경인 무손실 안테나 챔버와 전파간섭이 존재하는 실제적인 환경인 스마트홈에서 진행되었다. 본 측정의 결과로 빔 스티어링 안테나의 성능이 루프 안테나보다 우수함을 알 수 있다. 또한, 통신효율을 비교하면 측정환경 측면에서는 무손실 안테나 챔버가 스마트홈보다 우수하며, 안테나의 고정/이동 측면에서는 고정된 상태가 이동중인 상태보다 좋은 결과를 보임을 알 수 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.233-237
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• 2002

Vehicle Dynamics Control(VDC) has been a breakthrough and become a new terminology for the safety of a driver and improvement of vehicle handling. This paper examines the usefulness of a brake steer system (BSS), which uses differential brake forces for steering intervention in the context of VDC. In order to help the car to turn, a yaw moment can be achieved by altering the left/light and front/rear brake distribution. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. A 8-DOF non-linear vehicle model including STI tire model will be validated using the equations of motion of the vehicle, and the non-linear vehicle dynamics. Since Fuzzy logic can consider the nonlinear effect of vehicle modeling, Fuzzy controller is designed to explore BSS feasibility, by modifying the brake distribution through the control of the yaw rate of the vehicle. The control strategies developed will be tested by simulation of a variety of situation; the possibility of VDC using BSS is verified in this paper.

• 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.

• 대한기계학회논문집A
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• 제34권7호
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• pp.891-896
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• 2010

제로터는 유압모터나 펌프뿐만 아니라 조향장치인 파워 스티어링 유닛(PSU)에도 사용된다. 제로터의 내치차는 일상적인 경우 단일 원호형상의 외치차에 의하여 생성된다. 본 논문에서 PSU의 특성 개선을 위하여 보다 일반화 된 외치차의 형상으로부터 내치차를 생성하는 방법을 해석하였다. 해석의 결과로서, 외치차의 형상곡선이 특별한 2중곡률을 갖는 원호인 경우에 대하여, 내치차의 형상과 곡률, 제로터의 유량 및 접촉점의 위치와 슬립속도 등의 설계자료를 구하여 제시하였다. 이러한 해석은 새로운 PSU의 개발과 소형화를 가능케 한다.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2004년도 한국우주과학회보 제13권2호
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• pp.102-102
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• 2004