• 한국기계기술학회지
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• 제20권6호
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• pp.947-956
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• 2018

This research has been conducted to design upright parts of hand-made vehicles with the purpose of reducing material and machining cost while ensuring structural safety. Aluminum knuckles were modelled with three parts in order to enhance design flexibility as well as to reduce CNC machining cost. A vehicle model was constructed in CAD program and simulated in ADAMS View in order to estimate joint forces developing during 20 degree step steering condition at 60km/h. The joint forces obtained in the vehicle dynamics simulation were used for the structural analysis in ANSYS and dimensions of knuckle parts were adjusted until the lowest safety factor reached 2.0. The weight of knuckle decreased by 50% compared to the previous version that was designed without the structural analysis. The overall manufacturing cost decreased by 33% due to the reduction in the material as well as the CNC machining effort.

• 대한임베디드공학회논문지
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• 제17권5호
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• pp.257-263
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• 2022

Active stabilizers use signals such as steering angle, yaw rate, and lateral acceleration to vary the roll stiffness of the front and rear suspension depending on the vehicle's driving conditions, and are attracting attention as RSC (Roll Stability Control) system that suppresses roll when turning and improves ride comfort when going straight. Various studies have been conducted in relation to active stabilizer bars and RSC systems. However, accurate modeling of passive stabilizer model and active stabilizer model and vehicle dynamics analysis result verification are insufficient, and performance result analysis related to vehicle roll angle estimation and electric motor control is insufficient. Therefore, in this study, an accurate vehicle dynamics model was constructed by measuring the passive/active stabilizer bar model and component parameters. Based on this, the analysis result with high reliability was derived by comparing the roll angle estimation algorithm based on the lateral acceleration and suspension of the vehicle with the actual vehicle driving test result. In addition, it was intended to accurately analyze the motor torque characteristics and roll reduction effects of the electric motor-driven RSC system.

• International journal of advanced smart convergence
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• 제11권1호
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• pp.94-100
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• 2022

It is common for commercial vehicles to make the top part according to the use after making the bear chassis, and to connect various devices with the bear chassis. Various brackets used in bear chassis for the development of all automobiles, including commercial vehicles, play a role of connecting the components required for driving and operating the car to the car body. In commercial vehicles, components necessary for operation are installed in the bear chassis; that is, the bear chassis of commercial vehicles is a space where the devices required for driving and operating the vehicle are installed. The devices required for the configuration of the vehicle are drive, brake, exhaust and steering, etc. These devices are basically connected to the body, the front axis, or the rear axis. The part interlinking the apparatuses required for the vehicle drive to the car body or axis is bracket. In this study, we analyzed the boundary conditions to evaluate the stability of the three brackets that connect the components of the car to the front axis of the new type of 30-seater bus in the development process. In order to analyze the boundary conditions, the boundary conditions according to the driving condition of the vehicle were classified. For stress analysis to evaluate the stability of brackets according to the driving state of the vehicle, it is reasonable to give the bracket a boundary condition of harsh conditions.

• 제어로봇시스템학회논문지
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• 제16권6호
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• pp.539-545
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• 2010

Through the AUTOSAR methodology, the embedded software shall become more flexible, reusable, maintainable than ever. However, it is not mentioned about specific timing constraints of software components in AUTOSAR. There are a few basic principles for mapping runnable entities. At this point, AUTOSAR software design with optimal scheduling method is one of the enabling technologies in vehicle embedded system. This paper presents an approach based on mapping runnable entities and task scheduling design method for EPS (Electric Power Steering) software components, based on AUTOSAR. In addition, the experimental results of concurrent simulation show that the proposed scheduling technique and timing synchronization in the software component design can achieve the improved torque ripple performance and it well suited for EPS application software.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.972-975
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• 1999

Until now, all of the port goods are transported by container transporter driven manually but recently there are a lot of researches about unmanned vehicle driven automatically. In this paper, we present a design of the TDOF PID controller using a hybrid schematic algorithm to control steering system. We used the ES and SA algorithms to construct hybrid tuning algorithm. Then the computer simulation shows that our proposed controller has better Performances than the other one.

• 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.479-479
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• 2000

Recently, IVS(Intelligent Vehicle Systems) or ITS(Intelligent Traffic Systems) are much concerned subjects of automotive industry. In this paper, we will introduce an Intelligent Online Driving System for a car. This system allows the driver to be able to drive the car just by operating an integrated joystick. The proposed driving system could be implemented into any car and the key point of the design is that the driver still can drive the car as normal without using the joystick. Our Intelligent Online Driving System includes the integrated joystick, steering wheel control system, brake and acceleration (B&A)pedals control system, and the central control computer system. Steering wheel and B&A pedals are controlled by AC servo-motors. The integrated joystick generates the desired positions and the embedded computer controls these two servomotors to track the commands given by joystick. The control method for two servo-motors is PID control.

• 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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2824-2826
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• 2002

Immune system is an evolutionary biological system to protect innumerable foreign materials such as virus, germ cell, and etcetera. Immune algorithm is the modeling of this systems response that has adaptation and reliability when disturbance occur. In this paper, immune algorithm is proposed to control four wheels steering AGV(Automated Guided Vehicle) in container yard. The adaptive immune system is applied to the PID controller. For design the PID controller using immune algorithm, we tune PID parameters by off-line manner, in order to avoid the damage from abrupt control force. Repeatedly, the PID parameters are adjusted to be accurate by on-line fine tuner of immune algorithm. And then the computer simulation result from the viewpoint of yaw rate and lateral displacement are analyzed and compared with result of conventional PID controller.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권2호
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• pp.851-857
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• 2019

A new robust sliding mode control with disturbance and state observers has been proposed to control the nozzle angle of a water-jet system for a Unmanned Surface Vehicle (USV). As the water-jet system of a ship is subjected to direct disturbances owing to the exposure to the marine environment in water, it requires a robust control. A state observer and a disturbance observer are added to the water jet nozzle control system to achieve a robust control against disturbances. To verify the performance of the proposed algorithm, a test bed is constructed by a propulsion system used in the popular USV. This proposed algorithm has been evaluated by comparing to the existing algorithm through experiments. The results show that the performance of the proposed algorithm is better than that of the conventional PID or sliding mode controller when controlling the steering of the USV with disturbances.