• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2010.05a
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• pp.453-454
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• 2010

• Journal of Ocean Engineering and Technology
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• v.25 no.6
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• pp.116-122
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• 2011

A realtime simulator using an explicit integration method is introduced to improve the solving performance for the dynamic analysis of a wheeled vehicle. Because a full vehicle system has many parts, the development of a numerical technique for multiple d.o.f. and ground contacts has been required to achieve a realtime dynamics analysis. This study proposes an efficient realtime solving technique that considers the wheeled vehicle dynamics behavior with full degrees of freedom and wheel contact with soft ground such as sand or undersea ground. A combat vehicle was developed to verify this method, and its dynamics results are compared with commercial programs using implicit integration methods. The combat vehicle consists of a chassis, double wishbone type front and rear suspension, and drive train. Some cases of vehicle dynamics analysis are carried out to verify the realtime ratio.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.8 s.179
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• pp.1899-1909
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• 2000

This paper proposes a new $H_{\infty}$ yaw moment control scheme using brake torque switching for improving vehicle performance and stability especially in high speed driving. In the scheme, one wheel is selected, depending on the vehicle states, at which a brake torque for control is applied. Steering angles are modeled as a disturbance to the system and the $H_{\infty}$ controller is designed to minimize the difference between the performance of the vehicle and that of the desired model. Its performance robustness as well as stability robustness to system parameter variations is assured through ${\mu}$-analysis. Various simulations with a nonlinear 8-DOF vehicle model show that proposed controller enhances the vehicle performance and stability under disturbances and parameter variations as well as under the normal driving condition.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.513-520
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• 2011

This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a 2D laser scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstacle or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.9
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• pp.69-76
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• 2004

Most tasks of the large vertical or ceiling structures have been carried out by human power. Those tasks require us much operation costs and times, safety devices, etc. So the need of automation for those tasks have been rising. That automation needs a wall-climbing mobile vehicle. Most former researches are things about attachment devices and moving mechanisms. A wall-climbing mobile vehicle must be designed by a method different from the case of the vehicle of the horizontal environment. That is because gravity acts as a negative role on the stability of a wall-climbing vehicle. In this thesis, the particular shape characteristics of a wall-climbing mobile vehicle are derived by the wall-environment modeling. In addition, some design constraints of the permanent magnetic wheel as an attachment device was studied. According to those requirements and constraints, one specific wall-climbing mobile vehicle was designed and some experiments were made on the attachment ability of that vehicle.

• Proceedings of the KSR Conference
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• 2011.05a
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• pp.1085-1091
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• 2011

The dynamic stability of railway vehicle has been one of the important issues in railway safety. The dynamic simulator has been used in the study about the dynamic stability of railway vehicle and wheel/rail interface. Especially, a small scale simulator has been widely used in the fundamental study in the laboratory instead of full scale roller rig which is not cost effective and inconvenient to achieve diverse design parameters. But the technique for the design of the small scale simulator for the fundamental study about the dynamic characteristics of the wheel-rail system and the bogie system has not been well developed in Korea. Therefore, the research about the development of the small scale simulator and the bogie has been conducted. This paper presents the design of the small-scaled derailment simulator and the example design case of a small scale bogie. The simulator could be used in the study about the effect of diverse parameters such as attack angle, wheelbase and cant on dynamic behavior of the bogie and the safety parameter such as derailment coefficient and critical speed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.415-420
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• 2007

The objective of this study analyzes the influence of shimmy & shake phenomena due to tire design parameters which are RFV(radial force variation), DB(dynamic balance), RRO(radial run out) and air pressure. These parameters are inspection items for Q.C. after tires are manufactured. In order to analyze these parameters on this study, vehicle driving tests were achieved. The test modes are two type which are constant speed and coast-down driving. On this tests the dynamic characteristics of shimmy & shake are measured by the 3-axises accelerometers at the various positions that are knuckle(left & right), rack pinion, seat and steering wheel. In according to analyzed results, the longitudinal vibration of knuckle parts affects the lateral vibration of rack pinion and this vibration affects the lateral vibration of steering wheel that is the shimmy phenomena. Also the over and under DB by comparison with normal DB and the increment of RRO affect the occurrence of shimmy & shake phenomena.

• Journal of Power Electronics
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• v.15 no.6
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• pp.1640-1653
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• 2015

This study presents a model of a drivetrain for an integrated design of a light electric vehicle (EV). For the drivetrain of each front wheel of the single-person, battery-powered EV tricycle consists of a battery, an inverter, and an outer rotor permanent magnet synchronous motor (PMSM), which is connected to an in-wheel gearbox. The efficiency of the inverter, motor, and gearbox is analyzed over the New European Driving Cycle. To calculate the losses and efficiency of the PMSM, the power electronics in the inverter and gearbox are used. The analytical models provide a fast, but less accurate result, useful for optimization purposes. To accurately predict the efficiency of the PMSM, a finite element model is used. The models are validated by test setups. Correspondingly, a good agreement between the measurements and the calculated results is achieved. A parameter study is performed to investigate the influence of the detailed component parameters (i.e., outer rotor radius, gear ratio, and number of pole pairs and stator slots) on the average efficiency of the drivetrain.

• Journal of the Korean Society for Railway
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• v.2 no.2
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• pp.31-38
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• 1999

Two representative types of the AGT (Automated Guideway Transit) system, which are bogie and steering types, are available for the side-guided system. Each system primarily consists of the bogie frame, suspensions, wheelsets and axles, braking system and transmission system. Among these components, the bogie frame is one of the most significant components subjected to the whole vehicle and passenger loads. This paper describes structural analyses and associated fatigue analyses for each bogie frame depending on the various loading conditions on a basis of the railway vehicle code UIC 515-4. Subsequently, comparisons are made between those two types to estimate which type is more reliable in terms of strength and fatigue. It is observed that the bogie type is a little advantageous over the steering one from the strength analysis. However, the two types are found to be in a reliable range of fatigue even though a realistic fatigue load case is further carried out. In addition, an optimal size of thickness is suggested for designs of the bogie frame.

• Interaction and multiscale mechanics
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• v.3 no.4
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• pp.365-372
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• 2010

Station is an important building in high-speed railway, and its vibration and noise may significantly affect the comfort of waiting passengers. A coupling vibration model for train-structure system is established to analyze and evaluate the vibration level of a typical waiting hall under dynamic train load. The motion of a four-axle vehicle with two suspension system is modeled in multi-body dynamics with linear springs and dampers employed. The station is modeled as a whole finite element structure which is 113 m in longitudinal and 163.5 m in lateral, and the stiffness of the station foundation is considered. According to the assumptions that both wheel and rail are rigid bodies and keep contact to each other in vertical direction, and the wheel/rail interaction and displacement coordination in horizontal direction is defined by the simplified Kalker creep theory, the vehicle spatial vibration model has 27 degrees-of-freedom. An overall analysis procedure is made of the train moving through the station, by which the dynamic responses of the train and the station are calculated. According to the comparison between analysis and test results, the actual connection status between different parts of the station is estimated and the vibration level of the waiting hall is evaluated.