• 한국군사과학기술학회지
• /
• 제16권3호
• /
• pp.240-249
• /
• 2013

This paper discusses the maneuvering control algorithm based on all-wheel independent driving and steering control techniques for special purpose 6WD/WS vehicles. The maneuvering control algorithms considering superior dynamic characteristics of high power in-wheel motors and independent steering system are designed to perform driving, steering, vehicle stability, and fault tolerant control. The maneuvering controller applies sliding and optimal control theories considering optimal torque distribution and friction circle related to the vertical tire force. The fault tolerant control algorithm is applied to obtain the similar maneuverability to that of the non-faulty vehicle. The simulations using the Matlab/Simulink dynamics model and experiments using HIL simulator mounting the real controllers with the designed control algorithms prove the improved performances in terms of vehicle stability and maneuverability.

• 한국기계가공학회지
• /
• 제10권3호
• /
• pp.19-27
• /
• 2011

A weaving machine for texture industry uses a lot of needles and the nib of these needles is necessary to be kept with sharp edge. The re-grinding of the needle by a special purpose of the grinding wheel can be selected for achieving this aim. This study focused on the manufacture and performance assessment the special grinding wheel. A forming mold for the grinding wheel was designed and a sintering process for furnace process control was established. Manufactured wheels were tested for determining suitable grade of the wheel. The selection of optimal grinding conditions was achieved by a response surface method and a genetic algorithm.

• 대한기계학회논문집A
• /
• 제28권8호
• /
• pp.1203-1211
• /
• 2004

A traction control systems (TCSs) composed of either a wheel slip controller or a throttle valve controller or an integrated controller of both systems are proposed in this study. To validatethe dynamic characteristics of a vehicle and TCS, a full car model that can simulate the responses of both front wheel drive (2WD) and four wheel drive (4WD) vehicle is also developed. The wheel slip controller uses a sliding mode control scheme and the throttle valve is controlled by a PID controller. The results shows that tHe brake TCS and the engine TCS achieve rapid acceleration, and reduce slip angle on slippery road. When a vehicle is cornering and accelerating maneuver with the brake or engine TCS, understeer or oversteer occur, depending on the driving conditions. The integrated TCS prevents most of these problems and improves the stability and controllability of the vehicle.

• 한국자동차공학회논문집
• /
• 제21권6호
• /
• pp.40-48
• /
• 2013

Recently, many types of electric vehicles including a heavy duty vehicle have been developed and released because of the better fuel economy and less gas products. In this study, research about an electric bus which utilizes the wheel motor drive system was conducted. The wheel motor is a motor connected to the wheel directly only with a simple gear so that the developer can utilize the space efficiently and the whole system efficiency will be better because of simple structure. However, because it is different from former types of vehicles which use the differential gear, the development of the integrated control logic is required in order to meet the vehicle stability and driving performance. The developed control logic is composed with direct yaw moment control, regenerative braking control and slip control logics. It is compared to the control logics which does not consist of direct yaw moment control and slip control when the vehicle is exposed in tough situations. For the unification of the control logic, a few maps were developed and applied to determine the output torque of each motor according to the driving status. As a result, it is shown that the developed control logic is more safe and well follow the target speed than the other control logic applied simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
• /
• pp.315-320
• /
• 1988

This paper considers modelling and control of ABS(Anti-skid Brake System) which avoids dangerous wheel locking due to excessive brake pressure during the vehicle braking. The brake pressure is controlled by on and off's of solenoid valves via the variation of the wheel circumferential deceleration measured using tacho-sensors. The dynamic model between the brake pressure and the wheel acceleration of a vehicle is mathematically derived. The computer simulation shows that the threshold value of the on-off control is critical to the performance of the ABS.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2008년도 춘계학술대회 논문집
• /
• pp.806-812
• /
• 2008

Many kinds of rolling-stocks that have various control methods are being operated by Seoulmetro which is a history of a city railroad rolling-stock. Seoulmetro is being faced with a wheel management comparing of other lines with a perpendicular wear of wheel and a side damage, and so on, by operating several cars at a loop line. This is causing maintenance expenses increase and deteriorating a fusibility of rolling-stock, for it has an effect on a rolling-stock using. A cutting pattern of wheel and a wear form affect the expected span of a wheel. A wheel cutting cause is classifed into cutting for reprofiling of a flange wear of wheel and for removing every kind defect which originates from wheel wear. In this study, Seoulmetro exhibit a stable rolling-stock use method and a reasonable management method of wheel, analysing wheel exchange condition and cutting management of wheel.

• 한국항공우주학회지
• /
• 제45권11호
• /
• pp.967-974
• /
• 2017

반작용휠은 저속구간에서 마찰로 인해서 비선형 토크 응답을 보인다. 따라서 이 구간에서는 위성의 정밀한 자세제어를 달성하기 어렵다. 기존 연구들은 마찰력 보상이나 디더명령을 인가하는 방법을 사용하여 본 문제를 해결하려 하였다. 하지만 마찰력 모델링의 어려움이나 휠속도의 빈번한 영점 교차 때문에, 이러한 방법을 실제 위성 자세제어에 적용하기에는 어려움이 있다. 이를 해결하기 위해서, 자세오차에 따라서 자세제어기의 이득값을 조절하는 방법을 제안한다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.670-674
• /
• 2005

$D^*$ criterion is defined as a reference of the handling quality and ride comfortableness for lateral-directional automobile motion. However it is generally difficult to obtain the satisfied handling quality and ride comfortableness based on $D^*$ criterion by conventional two wheel steering system. In this study, a design method of model matching control system is proposed to obtain the satisfied $D^*$ response of 4 Wheel Steering.

• 한국농업기계학회:학술대회논문집
• /
• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
• /
• pp.469-477
• /
• 1996

In order to maintain a constant ratio between the ground wheel and fed shaft of planters, a feedback control unit was designed to drive the feed shaft in proportional to the ground speed. The fifth wheel was used as a ground speed sensor for the control unit. Using this control unit a feed shaft driving system was developed and tested both in the laboratory and field to evaluate it performance . The test results showed that the system drove the feed shaft in proportional to the ground speed in the normal planting speed range of 0.5 -0.8m/s with an error of less than 5%.

• 한국정밀공학회지
• /
• 제24권4호
• /
• pp.68-75
• /
• 2007

In this study, the ultimate goal is to acquire stability when turning around efficiently by using the controller which is applied partial feedback linearization of One-wheel Unicycle Robot. When moving around, linear controller could result in unstable factor according to widening operation range. So in order to reduce instability, 1 have developed Non-linear Controller using Partial Feedback Linearization. Compared with linear controller, Non-linear Controller guarantees the superiority of Regulating Control and Tracking Control in direct and also revolution motion of Robot. I'm sure of the Non-linear controller performance through many experiments.