• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.2
• /
• pp.111-119
• /
• 2017

This paper presents a method to determine the rear steering angle in integrated chassis control with electronic stability control (ESC) and rear wheel steering (RWS). A control yaw moment needed to stabilize a vehicle should be distributed into the tire forces generated by the ESC and RWS. Weighted pseudo-inverse control allocation (WPCA) is adopted to determine the tire forces. Four methods are proposed to calculate the rear wheel steering angle. To validate the proposed methods, a simulation is performed using a vehicle simulation software package, CarSim. The simulation results show that the proposed method for determining the rear wheel steering angle improves the performance of the integrated chassis control.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.10a
• /
• pp.740-743
• /
• 2005

Most works of the large vertical ceiling structures have been performed by human manually. These works require much more operation costs, labors and times, etc. Beside most people avoid this works because of it's characteristic such as danger, dirty and difficulty. So necessity of automation for these works has been rising. This automation needs a wall climbing mobile vehicle because of the movement of platform large workspace. In this study, we aim at develop the wheel which can be used for vertical wall-climbing mobile robot using electromagnet wheel. The wheel proposed can be available for several working processes on structures which consist magnetic substance.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.29 no.4
• /
• pp.1-7
• /
• 2006

This study determined the optimal positions of the movable steering wheel and pedal systems of industrial vehicle by various body dimensions. The position of objects and starting driving posture were measured by Martin-type anthropometer and goniometer. The X, Y and Z axis of movable steering wheel and pedal systems were measured horizon distance from right side to left side, horizon distance from front side to rear side and vertical distance from floor to ceiling. During the experiment in order to exclude learning effectiveness with forklift driving, 27 subjects who had male not experiences in driving a forklift used in the experiment. The relationship between the position of steering wheel and driver's posture with body dimensions was analyzed by using correlation relation and paired comparison t-test based on the measured data. The pedal location in X and Z axises was not related with various body dimensions. Also, the steering wheel was different among the angles of the right elbow and shoulder depending on the various body dimensions.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.11a
• /
• pp.369-374
• /
• 2007

This paper presents yaw vibration control performances of railway vehicle featuring controllable magnetorheological damper. A cylindrical type of MR damper is devised and its damping force is evaluated by considering fluid resistance and MR effect. Design parameters are determined to achieve desired damping force level. The MR damper model is then incorporated with the governing equations of motion of the railway vehicle which includes vehicle body, bogie and wheel-set. Subsequently, computer simulation of vibration control via proportional-integral-derivative (PID) controller is performed using Matlab. Various control performances are demonstrated under external excitation by creep force between wheel and rail.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1014-1019
• /
• 2005

In this paper, a neural network technique for automatic steering control of a four wheel drive autonomous highway snowplow vehicle is presented. Controllers are designed by the LQR method based on the vehicle model. Then, neural network is used as an auxiliary controller to minimize lateral tracking error under the presence of load. Simulation studies of LQR control and neural network control are conducted for the vehicle model under a virtual snowplowing situation. Tracking performances are also compared for two and four wheeled steering vehicles.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.166.1-166
• /
• 2001

Anti-lock Braking System(ABS) is a device which prevents the wheels form locked up under emergency braking of a vehicle. So it helps the vehicle to maintain the steerability and shortens the braking distance by maintaining optimal frictional force during braking since the tire road slip is controlled in acceptable range. Recently, ABS is accepted as a standard equipment in vehicles, especially in commercial vehicles(bus and trucks). Commercial vehicles don´t use hydraulic lines but use pneumatic lines for braking system mostly. In this paper, ECU(Electronic Control Unit) for the anti-lock braking system of a commercial vehicle which is equipped with a full-air brake system and its control algorithms are presented. In this algorithm wheel speed acceleration flags and wheel slip flags are defined ...

• Proceedings of the KSME Conference
• /
• 2002.08a
• /
• pp.759-762
• /
• 2002

Automobile aeroacoustics Is a developing area of technology where experimental and theoretical tools are being continuously refined to understand, analyze and modify the noise-generating mechanisms in the vehicle flow. Main sources of ground vehicle exterior noise are the tires (tire/road interaction) and the unsteady flow field around the vehicle. In this study, the sound source localization of a rolling tire was applied to the measurement of radiated sound by using an acoustic mirror system. A possible flow pattern that develops is suggested based on detailed wind tunnel investigations with a rotating wheel in contact with a moving belt.

• Proceedings of the KSR Conference
• /
• 2007.05a
• /
• pp.743-748
• /
• 2007

The important factor to evaluate the running safety of a railway vehicle would be the interaction force between wheel and rail(derailment coefficient), for which is one of important factors to check the running safety of a railway vehicle that may cause a tragic accident. Especially, a newly developed vehicle that first runs commercially requires necessarily the measurement and evaluation of derailment coefficient for securing the safety of a vehicle while measuring the derailment coefficient in view of securing running safety could be the more important factor than any other factors. In this paper, examined possibility that can forecast derailment possibility to behavior of only vibration and displacement by measuring vibration acceleration and displacement in vehicles that travel actuality rail track, and compares with data of wheel load/lateral force result.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.13 no.6
• /
• pp.958-966
• /
• 2010

In this paper, we have proposed a integrated dynamic control architecture in 6WD(wheel drive)/6WS(wheel steering) vehicle for military applications. Since 6WD/6WS vehicle has inherent redundancy, the input variables to make any desired vehicle motion can not be determined uniquely. Therefore, optimal distribution method of tire forces is introduced, which is based on workload of each tire. Simulation result shows that this is effective for the energy minimization and dynamic performance enhancement. We also suggest how the integrated control with any failure mode should be reconstructed.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2561-2563
• /
• 2000

In this paper, a mathematical vehicle model, the braking force control parameters, the wheel control logic, and vehicle control strategy are presented, in order to analyze the dynamic characteristics of a vehicle equipped with ABS(Antilock Brake System). The full vehicle dynamics model is constructed with sprung mass, brake system, and wheels to verify control algorithms. The valve control algorithms are designed with the wheel accelerations and slip ratio take into consideration. Theses algorithms are applied to the front and rear wheels independently. Simulation is performed under the wet road condition at initial braking speed of 60 [km/h].