• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.463-467
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• 2003

The traveling system of wheel type excavator, that is applied to drive method by friction of transmission, has many problems about transmisson. It need to settle the problem which is occurred at wheel type excavator and to study continuously variable transmisson which is used with only travel motor. This paper base on mathmetical modeling for travel motor and travel motor of wheel type excavator is designed continuously variable transmisson system without transmisson by direct control method.

• 한국자동차공학회논문집
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• 제20권2호
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• pp.15-20
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• 2012

This study is to propose and develop an integrated dynamics control system to improve and enhance the lateral stability and handling performance. To achieve this target, we integrate an AFS and a 4WS systems with a fuzzy logic controller. The IDCS determines active additional steering angle of front wheel and controls the steering angle of rear wheel. The results show that the IDCS improves the lateral stability and controllability on dry asphalt and snow paved road when double lane change and step steering inputs are applied. Yaw rate of the IDCS vehicle tracks reference yaw rate very well and body slip angle is reduced about by 50%. Response time of the IDCS vehicle is also decreased.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1152-1157
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• 2005

This paper is concerned with the construction of an improved sliding mode control for the active suspension system of a one-wheel car model subject to the excitation from a road profile. The active control is composed of the equivalent and the switching controls where an improved sliding surface is proposed. The active control force is generated by operating a pneumatic actuator due to the control signal that constructed by measuring the state variables of the car model and by estimating the excitation from the road profile using the VSS observer. The experimental result indicates that the proposed active suspension system is relatively effective in the vibration suppression of the car model.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.160.3-160
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• 2001

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A new control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.19-24
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• 1992

Real-time mobile robot controllers usually have been designed with an emphasis on control theory ignoring the importance of system integration. This paper demonstrates that useful mobile robots require a real time controller with a wide range of capabilities in addition to control theory. These capabilities include: path-planning, position estimation, path tracking control and wheel control. An architectural framework supporting these capabilities has been designed and implemented. Using this frame work, individual modules such as a path planner, a path tracking controller, position estimators, wheel controllers and other cruical elements have been successfully integrated into the control system for the LCAR robot which was developed as a proto-type mobile robot in our laboratory. The context of the research, the architecture, its implementation and performance results from experiments are discussed.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제12권2호
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• pp.154-161
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• 2012

This article presents experimental studies of fuzzy logic application to control a two-wheel mobile robot(TWMR) system. The TWMR system is composed of two systems, an inverted pendulum system and a mobile robot system. Although linear controllers can stabilize the TWMR, fuzzy controllers are expected to have robustness to uncertainties so that the resulting performances are expected to be better. Nominal fuzzy rules are used to control balance and position of TWMR. Fuzzy logic is embedded on a DSP chip to control the TWMR. Balancing performances of the PID controller and the fuzzy controller under disturbances are compared through extensive experimental studies.

• 자동차안전학회지
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• 제14권4호
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• pp.53-59
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• 2022

This paper describes an integrated control of torque vectoring and rear wheel steering using model predictive control. The control objective is to minimize the yaw rate and body side slip angle errors with chattering alleviation. The proposed model predictive controller is devised using a linear parameter-varying (LPV) vehicle model with real time estimation of the varying model parameters. The proposed controller has been investigated via computer simulations. In the simulation results, the performance of the proposed controller has been compared with uncontrolled cases. The simulation results show that the proposed algorithm can improve the lateral stability and handling performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1103-1106
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• 1996

Disturbance Accommodating Attitude control logic for 3-axis stabilized spacecraft is designed and compared with PIID control logic. PID controller provide the zero steady error for constant disturbances. PIID controller detect and cancel disturbances upto the ramp input. PID control logic is designed as the main control logic. We designed the disturbance observer to detect the effect of disturbance using the sinusoidal function. The detected disturbance are compensated by the additional control logic. The comparison simulation is conducted between PIID and PIID with DAC. The simulation results show that PIID with DAC shows the better attitude pointing accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.829-834
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• 2003

Many types of omnidirectional wheels with passive rollers have gaps between rollers. Since these gaps cause a wheel to make discontinuous contact with the ground, they lead to vertical and/or horizontal vibrations during wheel operation. In addition, the radii of passive rollers are related to the height of a bump an omnidirectional wheel can surmount. In this research a new design of the alternate wheel is proposed. Because this wheel makes continuous contact with the ground and has alternating large and small rollers around the wheel, it is termed a continuous alternate wheel (CAW). In this paper a design procedure is also presented to determine the optimum number of rollers, the radii of rollers and the inside inclination angle of an outer roller for given design specifications. The CAW based on this design is compared to the existing alternate wheels in terms of design. Finally, an actual continuous alternate wheel is constructed to verify validity of the design guidelines.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 춘계학술대회 논문집
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• pp.115-118
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• 2007

The geometry of wheel and rail profiles is the primary contributor to wheel and rail interaction. These profiles interact to influence truck steering, vehicle lateral stability, wheel/rail wear and surface damage. Maintaining good control of the profiles is one of the keys to ensuring preferred wheel and rail interaction. Transportation Technology Center, Inc., Pueblo, Colorado, is developing an automated measurement system for wheel/rail contact condition inspections supported by AAR(Association of American Railroads). The system uses a modified version of $WRTOL^{TM}$ (Wheel/Rail Tolerances)--software that performs extensive analysis of wheel and rail contact conditions