• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.180.1-180
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• 2001

In the autonomous vehicle, the reference lane is continually detected by machine vision system. And then the vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between the vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, PI controller is introduced for the yaw rate feedback. And it is tuned by the simulation that the vehicle is modeled as 2 DOF verified by the results of the actual vehicle test. The lateral control algorithm by the yaw rate feedback has good performances of lane tracking and passenger comfort.

• International Journal of Automotive Technology
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• 제7권2호
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• pp.201-208
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• 2006

This paper describes the control philosophy of ESP(Electronic Stability Program) which consists of the stability control the fault diagnosis and the fault tolerant control. Besides the functional performance of the stability control, robustness of control and fault diagnosis is focused to avoid the unnecessary activation of the controller. The look-up tables are mentioned to have the accurate target yaw rate of the vehicle and obtained from vehicle tests for the whole operation range of the steering wheel angle and the vehicle speed. The wheel slip control with a design goal of wheel slip invariance is implemented for the yaw compensation and the target wheel slip is determined by difference between the target yaw rate and actual yaw rate. Since the ESP has a high severity level and the robust control is required, the robustness margin for the stability control is determined according to several uncertainties and the robust fault diagnosis is performed. Both computer simulation and test results are shown in this paper.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1997년도 추계학술대회논문집; 한국과학기술회관; 6 Nov. 1997
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• pp.263-270
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• 1997

For a cylinder in a uniform flow stream, sound is generated by the fluctuating pressure on the cylinder surface due to the vortex shedding behind the cylinder. It is known that the major parameters to predict the sound pressure are the characteristic length of the flow along the cylinder axis and the fluctuating lift coefficient. These parameters strongly depend on the Reynolds number and the yaw angle of the cylinder to the free stream. In this experimental study the effects of yaw on the flow parameters, and consequently on the generated sound are investigated. The surface pressure and the radiated sound are measured simultaneously for different yaw angles and showed that the reduced normal velocity component to the cylinder axis reduces the unsteady lift fluctuation which results in lowered sound press-are level, However, experimental result shows that "the cosine law" which uses the normal velocity component as a characteristic velocity for noise Generation from a yawed cylinder needs to be carefully reviewed. reviewed.

• Wind and Structures
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• 제10권4호
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• pp.367-382
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• 2007

A nonlinear numerical method was developed to assess the stability of suspension bridge catwalks under a wind load. A section model wind tunnel test was used to obtain a catwalk's aerostatic coefficients, from which the displacement-dependent wind loads were subsequently derived. The stability of a suspension bridge catwalk was analyzed on the basis of the geometric nonlinear behavior of the structure. In addition, a full model test was conducted on the catwalk, which spanned 960 m. A comparison of the displacement values between the test and the numerical simulation shows that a numerical method based on a section model test can be used to effectively and accurately evaluate the stability of a catwalk. A case study features the stability of the catwalk of the Runyang Yangtze suspension bridge, the main span of which is 1490 m. Wind can generally attack the structure from any direction. Whenever the wind comes at a yaw angle, there are six wind load components that act on the catwalk. If the yaw angle is equal to zero, the wind is normal to the catwalk (called normal wind) and the six load components are reduced to three components. Three aerostatic coefficients of the catwalk can be obtained through a section model test with traditional test equipment. However, six aerostatic coefficients of the catwalk must be acquired with the aid of special section model test equipment. A nonlinear numerical method was used study the stability of a catwalk under a yaw wind, while taking into account the six components of the displacement-dependent wind load and the geometric nonlinearity of the catwalk. The results show that when wind attacks with a slight yaw angle, the critical velocity that induces static instability of the catwalk may be lower than the critical velocity of normal wind. However, as the yaw angle of the wind becomes larger, the critical velocity increases. In the atmospheric boundary layer, the wind is turbulent and the velocity history is a random time history. The effects of turbulent wind on the stability of a catwalk are also assessed. The wind velocity fields are regarded as stationary Gaussian stochastic processes, which can be simulated by a spectral representation method. A nonlinear finite-element model set forepart and the Newmark integration method was used to calculate the wind-induced buffeting responses. The results confirm that the turbulent character of wind has little influence on the stability of the catwalk.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1130-1136
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• 2009

A new control algorithm for the yaw motion control of a unicycle robot has been proposed in this paper. With the increase of life quality, there are various transportation systems such as segway and unicycle robot which provide not only transportation but also amusement. In most of the unicycle robots share the same technology in that the directions of roll and pitch are controlled by the balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However, one disadvantage of this technology is that it cannot provide the capability to the robots to avoid obstacles in their path way. This research focuses to provide the yawing function to the unicycle robot and to control the yaw motion to avoid the obstacles as desired. For the control of yawing motion, the yaw angle is adjusted to the inertia generated by the velocity and torque of a yawing motor which is installed in the center axes of the unicycle robot to keep the lateral control simple. Through the real experiments, the effective and robustness of the yawing control algorithm has been demonstrated.

• 대한기계학회논문집A
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• 제40권12호
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• pp.997-1003
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• 2016

본 논문은 자세 제어 장치와 능동 후륜 조향장치를 가지는 통합 섀시 제어에서 요 모멘트 분배를 위해 적응 알고리즘을 적용하는 방법을 제안한다. 통합 섀시 제어는 상위제어기와 하위제어기로 구성된다. 상위제어기에서 슬라이딩 모드 제어 이론을 이용하여 차량을 안정화시키는데 필요한 제어 요 모멘트를 계산한다. 하위제어기에서는 제어 요 모멘트를 만들어 내기 위해 자세 제어 장치의 제동 압력과 능동 후륜 조향장치의 조향각을 결정하는 데에 적응 알고리즘을 적용한다. 차량 시뮬레이션 패키지인 CarSim에서 시뮬레이션을 수행하여 제안된 방법의 타당성을 검증한다.

• Wind and Structures
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• 제32권5호
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• pp.471-485
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• 2021

Onshore wind turbines may experience substantially different wind loads depending on their working conditions, i.e. rotation velocity of rotor blades, incoming freestream wind velocity, pitch angle of rotor blades, and yaw angle of the wind-turbine tower. In the present study, aerodynamic loads acting on a horizontal axis wind turbine were accordingly quantified for the high tip speed ratio (TSR) at high yaw angles because these conditions have previously not been adequately addressed. This was analyzed experimentally on a small-scale wind-turbine model in a boundary layer wind tunnel. The wind-tunnel simulation of the neutrally stratified atmospheric boundary layer (ABL) developing above a flat terrain was generated using the Counihan approach. The ABL was simulated to achieve the conditions of a wind-turbine model operating in similar inflow conditions to those of a prototype wind turbine situated in the lower atmosphere, which is another important aspect of the present work. The ABL and wind-turbine simulation length scale factors were the same (S=300) in order to satisfy the Jensen similarity criterion. Aerodynamic loads experienced by the wind-turbine model subjected to the ABL simulation were studied based on the high frequency force balance (HFFB) measurements. Emphasis was put on the thrust force and the bending moment because these two load components have previously proven to be dominant compared to other load components. The results indicate several important findings. The loads were substantially higher for TSR=10 compared to TSR=5.6. In these conditions, a considerable load reduction was achieved by pitching the rotor blades. For the blade pitch angle at 90°, the loads were ten times lower than the loads of the rotating wind-turbine model. For the blade pitch angle at 12°, the loads were at 50% of the rotating wind-turbine model. The loads were reduced by up to 40% through the yawing of the wind-turbine model, which was observed both for the rotating and the parked wind-turbine model.

• 대한기계학회논문집A
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• 제22권3호
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• pp.603-610
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• 1998

This paper develops a 7 DOF vehicle model to study the effects of the active suspension on ride. The model is used to derive a control law for the active suspension using a full state linear optimal control technique. A wheelbase preview type active suspension is also considered in the control law derivation. The time delay between wheelbases is approximated using Pade approximation technique. The ride model is extended to a 14 DOF handling model. The 14 DOF handling model includes lateral, longitudinal, yaw and four wheel spin motions in addition to the 7 DOF ride model. A control law which is derived considering only ride related parameters is used to study the effects of the active suspension on a vehicle handling. J-turn maneuver simulation results show that the active suspension has a slower response in lateral acceleration and yaw rate, a bigger steady state lateral acceleration and an oversteer tendency. Lane changing maneuver simulation results show that the active suspension has a little bigger lateral acceleration but a much smaller roll angle and roll motion. Braking maneuver simulation results show that the active suspension has a much smaller pitch angle and pitch motion.

• 자동차안전학회지
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• 제5권1호
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• pp.62-68
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• 2013

This paper describes development of 4 Wheel Drive (4WD) Electric Vehicle (EV) based driving control algorithm for severe driving situation such as icy road or disturbance. The proposed control algorithm consists three parts : a supervisory controller, an upper-level controller and optimal torque vectoring controller. The supervisory controller determines desired dynamics with cornering stiffness estimator using recursive least square. The upper-level controller determines longitudinal force and yaw moment using sliding mode control. The yaw moment, particularly, is calculated by integration of a side-slip angle and yaw rate for the performance and robustness benefits. The optimal torque vectoring controller determines the optimal torques each wheel using control allocation method. The numerical simulation studies have been conducted to evaluated the proposed driving control algorithm. It has been shown from simulation studies that vehicle maneuverability and lateral stability performance can be significantly improved by the proposed driving controller in severe driving situations.

• 자동차안전학회지
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• 제8권1호
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• pp.13-18
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• 2016

More than 80 percent of traffic accidents related with lane departure believed to be the result of crossing the lane due to either negligence or drowsiness of the driver. Lane-departure related accident in the highway usually involve high fatality. Even though LDWS is believed to prevent accident 25% and reduce fatalities by 15% respectively, its effectiveness in performance is yet to be confirmed in many aspects. In this study, the vehicle lateral locations relative to warning zone envelop (earliest and latest warning zone) defined in ISO standard, ECE and NHTSA regulations are compared with respect to various factors including delays, vehicle speed and vehicle heading angle with respect to the lane. Since LDWS is designed to be activated at the speed over 60 km/h, vehicle speed range for the study is set to be from 60 to 100 km/h. The vehicle heading angle (yaw angle) is set to be up to 5 degree away from the lane (abrupt lane change) considering standard for lane change test using double lane-change test specification. The TLC is calculated using factors like vehicle speed, yaw angle and reaction time. In addition, the effect of vehicle type and reaction time have been considered to assess LDWS safety.