• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.940-946
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• 2012

This paper proposes a method to predict maximum traction for unmanned robots on rough terrain in order to improve traversability. For a traction prediction, we use a friction-slip model based on modified Brixius model derived empirically in terramechanics which is a function of mobility number $B_n$ and slip ratio S. A friction-slip model includes characteristics of various rough terrains where robots are operated such as soil, sandy soil and grass-covered soil. Using a friction-slip model, we build a prediction model for terrain parameters on which we can know maximum static friction and optimal slip with respect to mobility number $B_n$. In this paper, Mobility number $B_n$ is estimated by modified Willoughby Sinkage model which is a function of sinkage z and slip ratio S. Therefore, if sinkage z and slip ratio are measured once by sensors such as a laser sensor and a velocity sensor, then mobility number $B_n$ is estimated and maximum traction is predicted through a prediction model for terrain parameters. Estimation results for maximum traction are shown on simulation using MATLAB. Prediction Performance for maximum traction of various terrains is evaluated as high accuracy by analyzing estimation errors.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.25 no.1
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• pp.1-7
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• 2019

Background: The purpose of this study is investigate the effects of cervical range of motion (ROM) and forward head posture (FHP) on cervical manual traction in normal adults. Methods: The subjects were randomly assigned to either the experimental group(Female 9, Male 6) who conducted the manual cervical traction or the control group(Female 9, Male 6) who did not conduct the any intervention. The subject in the EG have conducted the 1 set of 10 minutes of manual cervical traction per day, 2 times a week for 6 weeks. The cervical ROM was measured by the digital inclinometer and The factors of FHP was measured by cranial vertebral angle (CVA) and cranial rotation angle (CRA). Results: Comparing the cervical ROM and FHP between the experimental and control groups before and after the experiment, it could be seen that flexion, extension, right lateral flexion, left lateral flexion, CVA and CRA of the experimental group has been increased. Thus, cervical manual traction was resulted in the increased cervical ROM and decrease FHP. Conclusion: In this study, it was confirmed that cervical manual traction affects increase cervical ROM and decrease FHP that play a important role in neck stability and mobility.

• Journal of Power Electronics
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• v.16 no.2
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• pp.572-583
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• 2016

In view of the speed control characteristics of induction traction motors and the problems of direct torque control (DTC) algorithms in current applications, this paper presents a DTC algorithm characterized by a symmetrical polygon flux control and a closed loop power control in the constant-torque base speed region and constant-power field-weakening region of induction traction motors. This algorithm only needs to add a stator flux control algorithm to the traditional DTC structures. This has the benefit of simplicity, while maintaining the features of traditional algorithms such as a rapid dynamic response, uncomplicated control circuit, reduced dependence on motor parameters, etc. In addition, it obtains a smoother flux trajectory that is conducive to improvement of the harmonic elimination capability, the switching frequency utilization as well as the torque and power performance in the field-weakening region. The effectiveness and feasibility of this DTC algorithm are demonstrated by both theoretical analysis and experimental results.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.6
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• pp.209-217
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• 2013

This paper presents a control strategy of 4 wheel drive (4WD) vehicles. Proposed control strategy has simple structure and can easily apply to various vehicles with low cost and time. It is consist of feedforward control for traction ability, fedback control for minimizing the wheel speed difference and yaw control for lateral stability. In addition, to integrate the traction and stability control, a blending function is applied. To evaluate the feasibility of the proposed control strategy, actual vehicle experiment is conducted after deciding the tuning parameter through the simulation. The simulation is accomplished by CarSim and Matlab/Simulink and the actual vehicle test is conducted using full size Sports Utility Vehicle (SUV) equipped rear wheel based solenoid type 4WD device.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.1271-1278
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• 2010

High-speed traction has voltage source variation because the electric power of tractions is supplied by difference traction power system according to operating section. This paper proposes the robust control maintaining constant output performance against voltage source variation for PWM converters of the high speed traction. The proposed scheme consists of feed-forward compensation for current controller by on-line calculating the rms voltage of voltage source. Total dynamic performance of high speed traction can be improved by the reduction of the output voltage ripple which is resulted from voltage source sag and variation. The superior performance and validity of the proposed scheme is proved through the simulation.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.185-189
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• 2008

D.C. traction systems can cause stray currents which could adversely affect both the railway concerned and outside installations, when the return circuit is not sufficiently insulated versus earth. As experience for several decades has not shown evident corrosion effects from a.c. traction systems and actual investigations are not completed, stary currents flowing from a d.c. traction system is issued. D.C. traction systems can cause stray currents can be corrosion and subsequent damage of metallic structures, where stray currents leave the metallic structures. There is also the risk of overheating, arcing and fire and subsequent danger to persons and equipment. Any provision employed to control the effects of stray currents be checked, verified and validated. Direct measurement of stray current is difficult and a provision employed to control the effects of stray currents is proposed.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.1
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• pp.40-47
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• 2002

This paper describes a re-adhesion control method for the Korean High-Speed Train (KHST) with parallel induction motor drive. To keep a traction efficiency and to improve vehicle maintenance, the adhesion characteristics between wheel and rail are analyzed. Also the re-adhesion controller is designed as the subsystem of induction motor vector control. In order to verify performance of the proposed control techniques, the simulation is executed by train model and a downscaled re-adhesion control simulator is utilized. Both simulation and running test results show that good re-adhesion characteristics are obtained.

• Journal of the Korean Society for Railway
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• v.13 no.2
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• pp.173-178
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• 2010

Electric railroad systems consist of supply system of electric power and electric locomotive. The electric locomotive is adapted to high speed driving and mass transportation due to obtaining high traction force. The electric locomotive is operated by motor blocks and traction motors. Train speed is controlled by suppling power from motor blocks to traction motors according to reference speed. Speed control of the electric locomotive is efficient by spending minimum energy between motor blocks and traction motors. Recently, induction motors have been used than DC and synchronized motors as traction motors. Speed control of induction motors are used by vector control techniques. In this paper, speed of the induction motor is controlled by using the vector control technique. Control system model is presented by using Simulink. Pulse is controlled by PI and hysteresis controller. IGBT inverter is used for real-time control and system performance is demonstrated by simulating the induction motor which has 210[kW] on the output power.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.5
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• pp.47-57
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• 2006

This paper presents a network-based traction control system(TCS), where several electric control units (ECUs) are connected by a controller area network(CAN) communication system. The control system consists of four ECUs: the electricthrottle controller, the transmission controller, the engine controller and the traction controller. In order to validate the traction control algorithm of the network-based TCS and evaluate its performance, a Hardware-In-the-Loop Simulation(HILS) environment was developed. Herein we propose a new concept of the HILS environment called the network-based HILS(Net-HILS) for the development and validation of network-based control systems which include smart sensors or actuators. In this study, we report that we have designed a network-based TCS, validated its algorithm and evaluated its performance using Net-HILS.

• Journal of the Korean Society for Railway
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• v.5 no.4
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• pp.267-275
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• 2002

The traction drive system for the urban transit maglev system is described in this paper. To control the magnitude and frequency of the output voltage of induction motor transiently, the vector control strategy is generally used. But in case of the traction drive system for the railway vehicle, it is difficult to use the vector control caused by the one-pulse mode in the high speed region. Therefore, this paper proposes the control strategy combined the vector control in the low speed region and the slip frequency control in the high speed region. And also, the overmodulation PWM method is discussed to make the change to the one-pulse mode softly. The performance of the proposed traction drive system is verified by the MATLAB simulation results.