• 한국자동차공학회논문집
• /
• 제3권3호
• /
• pp.66-78
• /
• 1995

In this paper, we address vehicle modeling and dynamic analysis of four wheel steering systems (4WS). 4WS is one of the devices used for the improvement of vehicle maneuverability and stability. All research done here is based on a production vehicle from a manufacturer. To study actual system response, a three dimensional, full vehicle model was created. In past research of this type, simple, two dimensional, bicycle vehicle models were typically used. First, we modelled and performed a dynamic analysis on a conventional two wheel steering(2WS) vehicle. The modeling and analysis for this model and subsequent 4WS vehicles were performed using ADAMS(Automatic Dynamic Analysis of Mechanical Systems) software. After the original vehicle model was verified with actual experiment results, the rear steering mechanism for the 4WS vehicle was modelled and the rear suspension was changed to McPherson-type forming a four wheel independent suspension system. Three different 4WS systems were analyzed. The first system applied a mechanical linkage between the front and rear steering mechanisms. The second and third systems used, simple control logic based on the speed and yaw rate of the vehicle. 4WS vehicle proved dynamic results through double lane change test.

• 한국자동차공학회논문집
• /
• 제8권6호
• /
• pp.142-155
• /
• 2000

A MIMO model reference control scheme incorporating the variable structure theory for a vehicle four wheel steering system(4WS) is proposed and evaluated for a class of continuous-time nonlinear dynamics with known or unknown uncertainties. The scheme employs an neural network to identify the plant systems, where the neural network estimates the nonlinear dynamics of the plant. By the Lyapunov direct method, the algorithm is proven to be globally stable, with tracking errors converging to the neighborhood of zero. The merits of this scheme is that the global system stability is guaranteed and it is not necessary to know the exact structure of the system. With the resulting identification model which contains the neural networks, it does not need higher degrees of freedom vehicle model than 3 degree of freedom model. Th proposed scheme is applied to the active four wheel system and shows the validity is used to investigate vehicle handing performances. In simulation of the J-turn maneuver, the reduction of yaw rate overshoot of a typical mid-size car improved by 30% compared to a two wheel steering system(2WS) case, resulting that the proposed scheme gives faster yaw rate response and smaller side angle than the 2WS case.

• Journal of Electrical Engineering and Technology
• /
• 제12권4호
• /
• pp.1675-1682
• /
• 2017

This paper deals with three dimensional orientation estimation algorithm for an attitude and heading reference system (AHRS) based on nine-axis inertial/magnetic sensor signals. In terms of the orientation estimation based on the use of a Kalman filter (KF), the quaternion is arguably the most popular orientation representation. However, one critical drawback in the quaternion representation is that undesirable magnetic disturbances affect not only yaw estimation but also roll and pitch estimations. In this paper, a sequential direction cosine matrix-based orientation KF for AHRS has been presented. The proposed algorithm uses two linear KFs, consisting of an attitude KF followed by a heading KF. In the latter, the direction of the local magnetic field vector is projected onto the heading axis of the inertial frame by considering the dip angle, which can be determined after the attitude KF. Owing to the sequential KF structure, the effects of even extreme magnetic disturbances are limited to the roll and pitch estimations, without any additional decoupling process. This overcomes an inherent issue in quaternion-based estimation algorithms. Validation test results show that the proposed method outperforms other comparison methods in terms of the yaw estimation accuracy during perturbations and in terms of the recovery speed.

• International Journal of Aeronautical and Space Sciences
• /
• 제18권1호
• /
• pp.91-98
• /
• 2017

Performance of a low speed axial compressor is enhanced through a proper configuration of blade row tip injection and casing treatment of groove type. Air injectors were mounted evenly spaced upstream of the blade row within the casing groove and were all aligned parallel to the compressor axis. The groove, which covers all the blade tip chord length, extends all-round the casing circumference. Method of investigation is based on solution of the unsteady form of the Navier-Stokes equations utilizing $k-{\omega}$ SST turbulence model. Extensive parametric studies have been carried out to explore effects of injectors' flow momentums and yaw angles on compressor performance, while being run at different throttle valve setting. Emphasis has been focused on situations near to stall condition. Unsteady numerical analyses for untreated casing and no-injection case for near stall condition provided to discover two well-known criteria for spike stall inception, i.e., blade leading edge spillage and trailing edge back-flow. Final results showed that with only 6 injectors mounted axially in the casing groove and at yaw angle of 15 degrees opposite the direction of the blade row rotation, with a total mass flow rate of only 0.5% of the compressor main flow, surprisingly, the stall margin improves by 15.5%.

• Wind and Structures
• /
• 제30권1호
• /
• pp.85-97
• /
• 2020

The accurate estimation of the buffeting response of a bridge pylon is related to the quality of the bridge construction. To evaluate the influence of wind field characteristics on the buffeting response of a pylon in a trumpet-shaped mountain pass, this paper deduced a multimodal coupled buffeting frequency domain calculation method for a variable-section bridge tower under the twisted wind profile condition based on quasi-steady theory. Through the long-term measurement of the wind field of the trumpet-shaped mountain pass, the wind characteristics were studied systematically. The effects of the wind characteristics, wind yaw angles, mean wind speeds, and wind profiles on the buffeting response were discussed. The results show that the mean wind characteristics are affected by the terrain and that the wind profile is severely twisted. The optimal fit distribution of the monthly and annual maximum wind speeds is the log-logistic distribution, and the generalized extreme value I distribution may underestimate the return wind speed. The design wind characteristics will overestimate the buffeting response of the pylon. The buffeting response of the pylon is obviously affected by the wind yaw angle and mean wind speed. To accurately estimate the buffeting response of the pylon in an actual construction, it is necessary to consider the twisted effect of the wind profile.

• 한국항해항만학회지
• /
• 제44권2호
• /
• pp.53-64
• /
• 2020

This paper discusses the hydrodynamic characteristics of a catamaran at low speed. In this study, the Delft 372 catamaran model was selected as the target hull to analyze the hydrodynamic characteristics by using the RANS (Reynold-Averaged Navier-Stokes) numerical method. First, the turbulence study and mesh independent study were conducted to select the appropriate method for numerical calculation. The numerical method for the CFD (Computational Fluid Dynamic) calculation was verified by comparing the hydrodynamic force with that obtained experimentally at high speed condition and it rendered a good agreement. Second, the virtual captive model test for a catamaran at low speed was conducted using the verified method. The drift test with drift angle 0-180 degrees was performed and the resulting hydrodynamic forces were compared with the trends of other ship types. Also, the pure rotating test and yaw rotating test proposed by Takashina, (1986) were conducted. The Fourier coefficients obtained from the measured hydrodynamic force were compared with those of other ship types. Conversely, pure sway test and pure yaw test also were simulated to obtain added mass coefficients. By analyzing these results, the hydrodynamic coefficients of the catamaran at low speed were estimated. Finally, the maneuvering simulation in low speed conditions was performed by using the estimated hydrodynamic coefficients.

• 제어로봇시스템학회논문지
• /
• 제16권8호
• /
• pp.735-743
• /
• 2010

A new Fuzzy sliding mode controller is proposed to improve the cornering performance of the four wheel hybrid vehicles. The Fuzzy sliding mode control is applied for the control of rear motor and EHB (Electro-Hydraulic Brake) to improve the cornering performance. The modeling of the automobile is simplified that each of the two wheels is modeled as two degrees of freedom object and the friction coefficient between the wheel and the ground is assumed to be constant. The output of the Fuzzy sliding mode algorithm is the direct yaw moment for the rear wheels, which compensates for the slip angle. Through the simulations using ADAMS and MATLAB Simulink, the cornering performance of the proposed algorithm is compared to the conventional PID to show the superiority of the proposed algorithm. In the simulation experiments, the J-Turn and single lane change are used for each of the Fuzzy sliding mode algorithm and PID controller with the optimal gains which are tuned empirically.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 추계학술대회논문집B
• /
• pp.388-393
• /
• 2001

An experimental study is conducted to investigate the interaction of vortices over a delta wing with leading edge extension(LEX) through the off-surface flow visualization and the 5-hole probe measurements of the wing wake region. Especially, the application of a new visualization technique is employed by ultrasonic humidifier water droplet and laser beam sheet. The results, both the off-surface visualization and the 5-hole probe, show that LEX tends to stabilize the vortices of the delta wing up to the high angle of attack even though the model is yawed. With increasing yaw, the windward leading edge vortex moves inward, and closer to the wing surface, while the leeward vortex moves outwards and away from the wing surface. The vortex interaction is promoted in the windward side, and is delayed in the leeward side.

• 제어로봇시스템학회논문지
• /
• 제18권3호
• /
• pp.275-284
• /
• 2012

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2011년도 추계학술대회
• /
• pp.173-175
• /
• 2011

본 논문에서는 얼굴의 3차원 위치와 방향을 추적하여 3D 물체를 다각도에서 볼 수 있는 사용자 인터페이스를 제시한다. 구현된 사용자 인터페이스는 사용자가 상하좌우로 얼굴을 움직였을 때, 얼굴의 3차원 위치 좌표를 이용하여 사용자가 움직이는 방향으로 물체를 이동시킨다. 그 뒤 사용자가 상하(pitch)좌우(yaw)로 얼굴을 회전시켰을 때, 얼굴의 Euler angle값을 이용하여 얼굴의 회전각만큼 물체를 회전시켜 물체의 측면을 제공한다. 다양한 위치와 방향에 사용자가 있을 때 물체의 움직임의 정확성과 반응성을 실험한 결과 시각화가 잘 됨을 확인하였다.