• Proceedings of the KSME Conference
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• 2002.08a
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• pp.189-192
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• 2002

In this paper, the submarine model, called DARPA SUBOFF model, has been numerically analyzed to investigate the aerodynamic forces variation in terms of angle of attacks and yaw angles. The SUBOFF model is consisted of the three parts : axisymmetric body, fairwater, and four symmetric stern appendages. Three dimensional unsteady incompressible Wavier-Stokes equation was used on curvilinear multi-block grid system. To validate the present code, the SUBOFF tare hull and an ellipsoid at angle of attacks of $10^{\circ}\;and\;30^{\circ}$ were simulated and a good agreement with experiments was obtained. After the code validation, the flows over SUBOFF model were simulated at three different angle of attacks and yaw angles. The variation of aerodynamic forces in terms of angle of attack and yaw angle were calculated. Also, to understand the flow features around a submarine with variation of yaw and attack angle, the pressure contours and streamlines were plotted.

• Wind and Structures
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• v.7 no.1
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• pp.41-54
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• 2004

An analysis refinement of the Messina Strait suspension bridge project has been recently required, concerning mainly the yaw angle effects on the multi-box deck section aerodynamics and the vortex shedding at low reduced velocities $V^*$. In particular the possible interaction of the axial flow with the large cross beams has been investigated. An original test rig has been designed at this purpose allowing for both forced motion and free motion aero elastic tests, varying the average angle of attack ${\alpha}$ and the deck yaw angle ${\beta}$. The hydraulic driven test rig allowed for both dynamic and stationary tests so that both the stationary coefficients and the flutter derivatives have been evaluated for each yaw angle. Specific free motion tests, taking advantage from the aeroelastic features of the section model, allowed also the study of the vortex shedding induced phenomena.

• Journal of the Korean Institute of Intelligent Systems
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• v.9 no.5
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• pp.480-489
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• 1999

Design and experimental results of yaw rate controller is described for electricallydriven four wheel vehicle without steering mechanism. Yaw rate controller has been known to be necessary to cope with nonlinear char-acteristics of the wheel/road conditions with respect to different road condition and steering angle. For an effective yaw rate control, a fuzzy PID gain scheduler is considered with changing control parameters. In order to apply proposed algorithm to the system a downsized four wheel drive electrically driven vehicle without steering mechanism was manufactured. With these techniques the proposed yaw rate controller is shown by experiment results to be obtained suficient performance in the whole steering regions.

• Journal of Advanced Marine Engineering and Technology
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• v.25 no.1
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• pp.199-208
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• 2001

In this paper, an automatic route tracking algorithm using the position variables and the yaw angle of a ship is suggested, Since most autopilot systems paly only a role of course-keeping by integrating the gyrocompass output, they cannot cope with position errors between the desired route and real route of the ship resulted from a drifting and disturbances such as wave, wind and currents during navigation. In order for autopilot systems to track the desired route, a method which can reduce such position errors is required and some algorithms have been proposed[1,2]While such were turned out effective methods, they have a shortage that the rudder control actions for reducing the position errors are occurred very frequently. In order to improve this problem it is necessary to convert that error into the corresponding yaw angle and necessary to treat only yaw angle control problem. To do this a command generation algorithm which converts the rudder angle command reducing the current position error into they yaw angle command is suggested. To control the ship under disturbances and nonlinearities of the ship dynamics, the adaptive fuzzy controller is developed. Finally, through computer simulations for two ship models, the effectiveness of the suggested method and the possibility of the automatic route tracking are assured.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.6
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.7
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• pp.1426-1437
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• 2002

Using the Lagrangian explicit time-integration finite element code NET3D which can treat three-dimensional high-velocity impact problems, oblique penetration processes of long rod projectile with yaw against thin plate are simulated. Through the comparison of simulation result with experimental result and other code's computational result, the adaptability and accuracy of NET3D is evaluated under the complex situation in which yaw angle and oblique angle exist simultaneously. Main research contents to be handled in this paper include the followings. First, the accuracy and efficiency estimation of NET3D code result obtained from the oblique penetration simulations of long rod projectile with yaw against thin plate. Second, the effect of increasing impact velocity. Third, the effect of initial yaw for the spaced-plate target. Residual velocities, residual lengths, angular velocities, and final deformed configurations obtained from the NET3D computations are compared with the experimental results and other code's computational results such as Eulerian code MESA and Lagrangian code EPIC. As a result of comparisons, it has been found that NET3D code is superior to EPIC code and MESA code in the prediction capability of residual velocity and residual length of penetrator. The key features obtained from the experiment can be successfully reproduced through NET3D simulations. Throughout the study, the applicability and accuracy of NET3D as a metallic armor system design tool is verified.

• Journal of Korean Society for Quality Management
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• v.45 no.3
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• pp.365-377
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• 2017

Purpose: In the A rotorcraft, the division of a long yaw control rod was studied to improve the heat treatment capability. The purpose of this study was to analyze whether division of yaw control rod affects quality reliability in the A rotorcraft and analyze whether it secured flight safety. Methods: The structural static test and the vibration durability test on the split shape of yaw control rod were carried out in order to examine and verify the existing structural analysis results. Results: Structural static test results showed that there were no cracks and vibration durability test results showed that there was no damage or breakage on the split yaw control rod. Conclusion: This study showed that the quality reliability was confirmed and thus the flight safety of the A rotorcraft was secured. And it is expected that the split technique of the yaw control rod will contribute to the development of the rotorcraft industry in the future.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.4
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• pp.10-15
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• 2019

In this paper, we report a robust steering control using time delay control for the vehicle dynamics variation due to tire/road contact condition variation, the lateral disturbance force due to the side wind, and the yaw disturbance moment due to the difference between the left and right tires' pneumatic pressure. We controlled the side slip and yaw damping compensation for rapid steering at the high velocity of the vehicle. Based on the developed control, the driver can only consider the desired path without concerning on the vehicle dynamics variation, disturbances, and undesired side slip and yaw oscillations. Simulation results show that robustness from the vehicle dynamics variation and disturbances was achieved by using the developed time delay control. We evaluated the side slip and yaw damping compensation capability for the rapid steering at the high velocity of the vehicle in the cases of three control methods.

• Journal of Wind Energy
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• v.9 no.4
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• pp.9-15
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• 2018

In a previous study, a technique for measuring wind speed and direction by using a roll-rotating three-axis ultrasonic anemometer was proposed and verified by wind tunnel tests. In the tests, instead of a roll sensor, roll angle was trimmed to make no up flow in the transformed wind speeds. Verification was done in point of the residual error of the rotation effect treatment. In this study, roll angle was measured from the roll motor encoder and the transformed wind speed and direction on the test section axis were compared with the ones provided to the test section. As a result, up to yaw $20^{\circ}$ at a wind speed of 12 m/sec or over, the RMS error of wind speed was within the double of the ultrasonic anemometer error. But at yaw $30^{\circ}$, it was over the double of the ultrasonic anemometer error. Regardless of wind speed, at yaw $20^{\circ}$ and $30^{\circ}$, the direction error was within the double of the ultrasonic anemometer error. But at yaw $10^{\circ}$ or less, it was within the error of the ultrasonic anemometer itself. This is a very favorable characteristic to be used for wind turbine yaw control.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.7-13
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• 2022

This paper presents a yaw moment control based on estimated mass for manual-shift commercial vehicles. In yaw moment controller, parameter uncertantiy of vehicle mass is important because the desired yaw moment depends on vehicle parameter. However, in the case of commercial vehicle, the weight of the loaded vehicle is more than twice as much as compared to the unloaded vehicle. The proposed algorithm estimates the vehicle mass by using the longitudinal dynamic and gear shifting characteristics. The estimated mass is used to adaptively modify the vehicle parameters. In addition, this paper estimates the chamber pressure of a pneumatic brake and generates the target yaw moment through on/off valve control. MATLAB/Simulink and Trucksim were performed under sine with dwell test. The results demonstrate that the proposed algorithm improves the lateral and rollover stability.