• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.313-320
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• 2011

Multi-axle driving vehicles that are used in special environments require high driving performance, steering performance, and stability. Among these vehicles, 6WS/6WD vehicles with middle wheels have structural safety by distributing the load and reducing the pitch angle during rapid acceleration and braking. 6WS/6WD vehicles are favored for military use in off road operations because of their high maneuverability and mobility on extreme terrains and obstacles. 6WD vehicles that using in-wheel motor can generate the independent wheel torque without other mechanical parts. Conventional vehicles, however, cannot generate an opposite driving force at each side wheel. Using an independent steering and driving system, six-wheel vehicles can show better performance than conventional vehicles. Using of independent steering and driving system, the 6 wheel vehicle can improve a performance better than conventional vehicle. This vehicle enhances the maneuverability under low speed and the stability at high speed. This paper describes an independent 6WS/6WD vehicle, consists of three parts; Vehicle Model, Control Algorithm for 6WS/6WD and Simulation. First, vehicle model is application of TruckSim software for 6WS and 6WD. Second, control algorithm describes the optimum tire force distribution method in view of energy saving. Last is simulation and verification.

• 전기학회논문지
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• 제62권6호
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• pp.750-755
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• 2013

In-wheel motor system gets the driving force from direct-driven motor in the wheel of electric vehicle. It is known as good system for vehicles, from an efficiency, packaging, handling and safety. This paper describes motor and inverter technologies, system configuration and control algorithms for in-wheel type electric vehicle. It is necessary to control on an interrelation perspective because this system drives two motors at same time. In system design, IPMSM(Interior Permanent Magnet Synchronous Motor) including a wide operating range and high-speed rpm is used and flux weakening control is performed in constant power range. Under the torque command from the host controller, auto control box, inverter's output torque is calculated with using torque estimation technique and applied to actual vehicle driving system. It is verified that the configuration and the algorithm are suitable for the in-wheel motor system.

• 자동차안전학회지
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• 제14권4호
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• pp.16-20
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• 2022

Accurate state estimation is important for autonomous driving. However, the estimation error increases in situations that a lot of longitudinal slip occurs. Therefore, this paper presents a vehicle state estimation method using an Extended Kalman Filter. The filter estimates the states of the host vehicle robust to wheel slip. It utilizes the measurements of the four-wheel rotational speeds, longitudinal acceleration, yaw-rate, and steering wheel angle. Nonlinear measurement model is represented by Ackermann Model. The main advantage of this approach is the accurate estimation of yaw rate due to the measurement of the steering wheel angle. The proposed algorithm is verified in scenarios of autonomous emergency braking (AEB), lane change (LC), lane keeping (LK) using an automated vehicle. The results show that the proposed algorithm guarantees accurate estimation in such scenarios.

• 한국자동차공학회논문집
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• 제3권3호
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• pp.66-78
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• 1995

In this paper, we address vehicle modeling and dynamic analysis of four wheel steering systems (4WS). 4WS is one of the devices used for the improvement of vehicle maneuverability and stability. All research done here is based on a production vehicle from a manufacturer. To study actual system response, a three dimensional, full vehicle model was created. In past research of this type, simple, two dimensional, bicycle vehicle models were typically used. First, we modelled and performed a dynamic analysis on a conventional two wheel steering(2WS) vehicle. The modeling and analysis for this model and subsequent 4WS vehicles were performed using ADAMS(Automatic Dynamic Analysis of Mechanical Systems) software. After the original vehicle model was verified with actual experiment results, the rear steering mechanism for the 4WS vehicle was modelled and the rear suspension was changed to McPherson-type forming a four wheel independent suspension system. Three different 4WS systems were analyzed. The first system applied a mechanical linkage between the front and rear steering mechanisms. The second and third systems used, simple control logic based on the speed and yaw rate of the vehicle. 4WS vehicle proved dynamic results through double lane change test.

• 한국정밀공학회지
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• 제27권8호
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• pp.13-19
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• 2010

A design method of railway wheel profile with objective function of equivalent conicity considering wheel dimension constraint, two points contact problem between wheel and rail was proposed. New design method shows good results. New wheel profile generated from optimization process shows better dynamic performance compared with initial profile as the purpose of wheel profile design. And to verify the design method with testing the stability of new wheel profile, we conducted a critical speed test for new wheel profile using scale model applied scaling method of railway vehicle dynamics. The result of critical speed test show good agreement with that of numerical analysis. From the above results, it is seen that the design method with objective function of equivalent conicity is feasible and it could be applied to design new wheel profile efficiently.

• 대한기계학회논문집A
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• 제37권11호
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• pp.1387-1395
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• 2013

차륜 불평형은 차륜의 무게중심이 윤축의 기하학적 중심축에서 벗어나 있을 때 발생한다. 차륜 불평형을 수정하지 않고 주행하면 불평형에 의한 원심력이 차체의 진동을 발생시키게 되며 차륜의 마모를 촉진시키거나 차축 베어링에 손상을 주게 된다. 본 연구에서는 철도차량 동적해석을 통하여 차륜 불평형이 차량 임계속도와 차체 진동에 미치는 영향을 검토하였다. 차륜 불평형은 임계속도를 감소시키고 차체 공진을 유발할 수 있음을 알 수 있었다. 또한 차륜의 정적, 동적 불평형에 따른 차체진동을 해석함으로써 불평형 수정은 양면 밸런싱이 필요함을 밝혔다.

• 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.

• 한국철도학회논문집
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• 제19권5호
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• pp.565-575
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• 2016

철도차량 영업 운행 중 빈번히 발생하는 차륜 마모, 손상 등의 결함을 제거하기 위하여 실시되는 차륜 전삭 공정과 관련하여 전삭 전후의 차량 동적성능을 분석하였다. 전동차를 대상으로 차륜 전삭 전후의 차륜답면형상을 계측, 분석하였으며 진동 및 승차감 특성을 분석하고자 차량 주행시험을 실시하였다. 시험결과, 차륜 전삭 후 차량 진동 RMS값은 전삭 전에 비하여 저감되었으며 철도차량 기술기준에 의거 분석한 차체 진동성능은 전삭 전에 비하여 개선되었다. 승차감레벨은 전삭 전에 비하여 전삭 후 좌우, 상하방향 모두 최대 약 3dB의 개선 효과를 보였으며 주행안전성 또한 개선됨을 확인하였다.

• 한국자동차공학회논문집
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• 제4권6호
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• pp.39-51
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• 1996

In the turning maneuver of the vehicle, its motion is mainly dependent on the genuine steering characteristics in view of the directional stability for stable turning ability. The under steer vehicle has an ability to maintain its own directonal performance for unknown external disturbances to some extent. From a few years ago, in order to acquire the more enhanced handling performance, some types of four wheel steering vehicle were considered and constructed. And, various rear wheel control logics for external disturbances has not been suggested. For this reason, in this posed rear wheel control logic is based on the yaw rate feed back type and is slightly modified by an yaw rate tuning factor for more stable turning performance. And an external disturbance is defined as a motivation of the additional yaw rate in the center of gravity by an uncertain input. In this study, an external disturbance is applied to the vehicle as a form of the additional yawing moment. Finally, the proposed rear wheel control logic is tested on the multi-body analysis software(ADAMS). J-turn and double lane change test are performed for the validation of the control logic.

• 한국생산제조학회지
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• 제26권4호
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• pp.418-424
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• 2017

A wheel dynamometer was installed between the rim and axle hub to measure the forces and moments applied to a vehicle. The wheel dynamometer was composed of sensing and signal processing components. Because the sensing component contained a complex structure to sense the six components of the forces and moments and the wheel rotated along with the vehicle movement, sophisticated signal processing hardware and a software algorithm were used. The strains and the calibration matrices of the wheel dynamometer along the wheel rotation angle were investigated using FEM. From the analysis, the calibration matrices were simplified using a spline interpolation. Based upon these results, the signal processing component could be effectively designed and the firmware software could be simplified.