• International Journal of Automotive Technology
• /
• 제5권2호
• /
• pp.69-76
• /
• 2004

This paper evaluates the effectiveness of four-wheel-steering system from the viewpoint of lane-keeping control theory. In this paper, the lane-keeping control system is designed on the basis of the four-wheel-steering automobiles whose desired steering response is realized with the application of model matching control. Two types of desired steering responses are presented in this paper. One is zero-sideslip response, the other one is steering response which realizes zero-phase-delay of lateral acceleration. Using simplified linear two degree-of-freedom bicycle model, simulation study and theoretical analysis are conducted to evaluate the lane-keeping control performance of active four-wheel-steering automobiles which have different desired steering responses. Finally, the evaluation is conducted on straight and curved roadway tracking maneuvers.

• 한국군사과학기술학회지
• /
• 제12권5호
• /
• pp.676-682
• /
• 2009

The idler wheel installed at the front side of the newly developed tracked vehicle didn't meet the durability requirement by showing the crack failure near the jointed region at the wheel during the field test. To find the crack developing mechanism we constructed finite element model for the idler wheel representing the behavior of interface between each suspension units, material properties from the material test data and actual loading conditions. This paper shows a result that maximum von Mises stress near the bolt hole on the outer rim is higher than inner idler coressponding to the actual test result and that result was reversed by adopting the reinforcement outside of the outer rim.

• 한국자동차공학회논문집
• /
• 제11권2호
• /
• pp.217-223
• /
• 2003

The power steering system has been adopted in most vehicle system for an easy maneuverability. In this paper, a hydraulic power steering(HPS) model for the computer simulation is developed and used to power steering simulation. The simulation shows that the steering wheel torque with HPS model is less than that without HPS model. In addition, the shimmy vibration at the steering wheel is also simulated and compared to the test data. The lateral displacement of the steering wheel is calculated by imposing the lateral acceleration of the knuckle as a vibration input. The frequency response of the steering wheel is in a good agreement to the test data.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2006년도 추계학술대회 논문집
• /
• pp.98-103
• /
• 2006

The hunting is the natural characteristics of the railway wheelset which is originated from the contact between the conical type wheel profile and rail. The critical speed of rolling-stock is called when the hunting is occurred, and it is closely connected with vehicle stability. The parameters which influence the hunting motion are like wheel profile, primary spring property and wheelset dimension, etc. The studies for these parameters are reported diversely. In this study, we aim to analyze the influence of parameters on hunting with the change of wheel profile produced by wheel wear and material property produce by aging of primary spring. For this, we made a dynamic model for wheelset and vehicle. Using these models, we analyzed the critical speed with the variations of the parameters like as wheel profile and primary spring property and we show the results.

• 한국기계가공학회지
• /
• 제21권4호
• /
• pp.84-90
• /
• 2022

In this study, the acceleration performance improvement was analyzed for a 2-speed transmission applied EV. An EV simulator was developed to analyze the EV acceleration performance. The EV simulator includes a load transfer model between the front and rear. Thus, the EV simulator can analyze the acceleration performance difference between the front-and rear-wheel drive EVs. From the simulation results, it is deduced that the acceleration performance can be improved by 7.96% for the front-wheel drive EV and 16.10% for the rear-wheel drive EV. The 2-speed transmission can improve the acceleration performance without decreasing its maximum velocity. Moreover, the 2-speed transmission can improve the acceleration performance of the rear wheel drive more than that of the front-wheel drive EV.

• 전자공학회논문지SC
• /
• 제45권1호
• /
• pp.1-8
• /
• 2008

자유롭고 빠르게 이동할 수 있도록 도와주는 개인 이동 수단인 two-wheel balancing vehicle은 inverted pendulum 시스템의 원리를 이용한 것으로, 최근 들어 많은 연구가 이루어지고 있고 이를 이용한 제품이 실제 사용되고 있다. 본 논문에서는 일반적인 PID 제어이론을 이용한 two-wheel balancing vehicle에 대한 제어성능을 개선시키는 새로운 제어방식을 제안한다. 제안한 방식은 퍼지 PD+I 제어방식으로 향상된 PID 제어의 일종으로 2개의 입력과 1개의 출력을 가진 퍼지시스템에 적분 신호를 더함으로써 출력신호를 만든다. 퍼지시스템의 비선형성은 시간공정에서 비례신호와 미분신호의 가중치를 변화함으로써 최적의 출력제어신호를 만들어낸다. 제안한 퍼지 PD+I 제어방식의 유용성을 알아보기 위해 two-wheel balancing mobile robot에 대해 시뮬레이션과 실험의 결과를 통해, 제안한 퍼지 PD+I 제어방식이 일반적인 PID 방식보다 우수한 성능을 가지고 있음을 알 수가 있다.

• 한국산학기술학회논문지
• /
• 제14권6호
• /
• pp.2581-2587
• /
• 2013

철도차량의 안전성을 위해 사용되는 윤축은 차량 전체 중량의 16%를 차지하는 요소로서, 철도차량의 경량화에 있어 필수적으로 연구되는 대상이다. 본 연구는 기존 윤축의 중량을 요구강도에 만족시킴과 경량화를 목적으로 창의적 문제해결이론인 TRIZ의 6SC를 적용하여 중공구조의 윤축 내부에 사용될 수 있는 캡을 설계하였고, 설계에 대한 검증을 위해 해석 툴인 ANSYS를 활용하였다. 본 연구에서 제안한 캡의 재질은 SM45C이며 중공구조이다. 또한, 윤축에 요구되는 강도를 만족하기 위해 중공 윤축의 베어링 시트 부 내부에 위치한다. 본 연구를 통해 설계 및 해석된 캡을 삽입한 윤축은 전동차의 윤축에 요구되는 기준을 만족하였으며 무게는 중실축과 비교하였을 때, 약 6.75%를 감소시켰다. 윤축 강도에 대한 평가 기준은 EN13103 및 EN13104의 규격을 적용하였다. 또한, 캡을 장착한 윤축의 최대응력 및 중량에 대해 기존의 중실축, 중공축과 비교함으로써 설계에 대한 효과를 검증하였다.

• 한국산학기술학회논문지
• /
• 제18권12호
• /
• pp.1-8
• /
• 2017

본 연구에서는 인휠 전기구동 시스템의 장점을 바탕으로 첨단능동안전지원 기술의 일종인 적응순항제어(Adaptive Cruise Control, ACC) 알고리즘의 고도화 방안을 제시한다. 본 연구에서 대상 차량은 전륜은 엔진에 의해, 후륜은 인휠모터에 의해 구동되는 4륜 하이브리드 구동계를 갖는 것을 특징으로 하는데, 이러한 구성은 기존 내연기관 차량을 개선하여 차량의 출력을 증가시키거나 4륜 하이브리드 형태로의 변화를 용이하게 하는 장점이 있다. 본 연구에서는 이러한 차량의 구성을 바탕으로 기본 상태에서는 엔진만을 이용하여 차간거리 제어를 수행하되, 젖은 노면 등 주행 환경에서 제어오차가 커지게 되면 후륜의 인휠모터를 구동하여 제어성능을 확보할 수 있는 ACC 알고리즘을 제안한다. 제안된 ACC 알고리즘은 상기와 같은 방법으로 ACC 제어성능을 최적화함과 동시에 기존 4륜 자동차가 갖는 장점을 그대로 유지하도록 한다. 또한 본 연구에서는 고정밀 동역학 SW를 기반으로 대상 인휠모터 및 인휠 하이브리드 구동계, 해당 구동계 기반의 ACC 제어시스템을 모델링하였으며, 이를 통해 시뮬레이션 환경을 기반으로 제안된 알고리즘의 검증 결과를 제시한다.

• International Journal of Automotive Technology
• /
• 제3권4호
• /
• pp.165-170
• /
• 2002

For a vehicle Anti-lock Braking System (ABS), the control target is to maintain friction coefficients within maximum range to ensure minimum stopping distance and vehicle stability. But in order to achieve a directionally stable maneuver, tire side forces must be considered along with the braking friction. Focusing on combined braking and turning operation conditions, this paper presents a new control scheme for an ABS controller design, which calculates optimal target wheel slip ratio on-line based on vehicle dynamic states and prevailing road condition. A fuzzy logic approach is applied to maintain the optimal target slip ratio so that the best compromise between braking deceleration, stopping distance and direction stability performances can be obtained for the vehicle. The scheme is implemented using an 8-DOF nonlinear vehicle model and simulation tests were carried out in different conditions. The simulation results show that the proposed scheme is robust and effective. Compared with a fixed-slip ratio scheme, the stopping distance can be decreased with satisfactory directional control performance meanwhile.

• 제어로봇시스템학회논문지
• /
• 제16권4호
• /
• pp.353-360
• /
• 2010

A skid-steering method which applied to the various mobile robot platforms currently shows its effectiveness in the specified field areas and purposes. This system contains however, several problems of its intrinsic properties such as slippages occurred by different moving direction between vehicle's driving and wheel's rotary and difficulties of driving performance control and so on. This paper deals with the suggestion of suitable control algorithm for 6WD/6WS skid steering wheeled vehicle and verified its feasibility by analyzing the behavior of 6WD/6WS skid-steered wheeled vehicle model and by applying the engineering analytical method to the considered mobile platform. The Performance of vehicle model is evaluated by using slip mode control to follow the steering input and, as a future work, this control algorithm could be applied to real 6WD/6WS in-wheel drive type vehicle finally.