• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.55 no.1
• /
• pp.41-46
• /
• 2006

In electric motor coaches, the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, the electric motor coach has slip phenomena. This paper proposes a anti-slip control algorithm which uses the maximum adhesive effort by instantaneous estimation of adhesion force using load torque disturbance observer. Based on this estimated adhesive effort, the anti-slip control is performed to obtain the maximum transfer of the tractive effort.

• Proceedings of the KIEE Conference
• /
• 2004.05a
• /
• pp.50-52
• /
• 2004

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has slip state. First of all, this paper models adhesion characteristics and slip in wheeled robot. Secondly, the paper proposes estimation method of adhesion force coefficient according to slip velocity. In oder to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. The paper proposes an anti-slip control system based on an ordinary disturbance observer, that is, the anti-slip control is achieved by reducing the driving torque enough to give maximum adhesion force coefficient. These procedure is implemented using a Pioneer 2-DXE parameter.

• Journal of the Korea Safety Management & Science
• /
• v.15 no.4
• /
• pp.153-160
• /
• 2013

The purpose of this study was to compare biomechanical factors on badminton shoes between anti-slip outsole and non anti-slip outsole. Six subjects participated in this experiment. For three-dimensional analysis, eight cameras (Oqus 3series, Qualisys) were used to acquire raw data, and then the parameters were calculated and analyzed with Visual-3D. In conclusion, the patterns of spent time during side step, and maximum velocities of CoGs were consistent without joint angles of lower extremities in spite of small differences. Those of GRFs, and moment of lower extremities were absolutely consistent. This trend of biomechanical factors was that Y shoe (ante-treatment) was much greater and PS shoe (treatment) was greater than Y shoe (treatment). (That was, Y shoe (ante-treatment) > PS shoe (treatment) >Y shoe (treatment)). The findings of this study showed that anti-slip outsole was effective and brought increasing performance and decreasing injuries. It is suggested that further study of these phenomena will help understand many aspects of human locomotion, including work, performance, fatigue and possible injuries.

• Proceedings of the KIEE Conference
• /
• 2006.07b
• /
• pp.877-878
• /
• 2006

In electric motor coaches, the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, inertia conversion the electric motor coach has slip phenomena. This paper proposes a anti-slip control algorithm which uses the maximum adhesive effort by instantaneous estimation of adhesion force using load torque disturbance observer. Based on this estimated adhesive effort, the anti-slip control is performed to obtain the maximum transfer of the tractive effort.

• Proceedings of the KIEE Conference
• /
• 2002.11d
• /
• pp.334-340
• /
• 2002

This paper proposes a new anti-slip re-adhesion control system fur electric railway vehicle driven by inverter-fed induction motors. This paper introduces an instantaneous tangential farce coefficient estimator between driving wheel and rail, which is based on disturbance observer. The torque command of proposed system regulates to exceed this estimated tangential farce coefficient in order to avoid undesirable slip phenomenon of driving wheels. We have already proposed the anti-slip re-adhesion control system based on disturbance observer for simplified one wheel equivalent model successfully. This paper extend to this system to the actual bogie system, which has four driving wheels driven by two induction motors fed by one inverter. In order to apply anti-slip re-adhesion control to the actual bogie system a new anti-slip re-adhesion control based on both disturbance observer and speed sensor-less vector control of induction motor with quick response are combined. The experimental results and the numerical simulation results prove the validity of the proposed control system.

• Journal of Auto-vehicle Safety Association
• /
• v.12 no.2
• /
• pp.21-26
• /
• 2020

This paper presents an anti-lock braking system for commercial vehicles with pneumatic brake system by using slip ratio. By virtue of system reliability, most commercial vehicles adopt pneumatic brake system. However, pneumatic brake systems control is more difficult than hydraulic systems due to a longer time delay and the system nonlinearity. One of the major factors in generating braking forces is the wheel slip ratio. Accordingly, the proposed ABS strategy employs the slip ratio threshold-based valve on/off control. This threshold-based algorithm is simple but effective to control the pneumatic brake systems. The control performance of the proposed algorithm has been validated via simulation studies using MATLAB/Simulink and Trucksim. The results show ABS by using slip ratio reduces the braking distance and improves vehicle control.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.20 no.5
• /
• pp.597-607
• /
• 2017

The general control method for Anti-lock Brake System(ABS) is that the wheel slip ratio is observed and the braking force is controlled in real time in order to keep the wheel slip ratio under the value of the best slip ratio. When a wheel runs on the state of the best slip ratio, the ground friction of the wheel approaches the highest value. The value of best slip ratio, theoretically, is known as the value between 10 and 20 % and it is dependant on the ground condition such as dry, wet and ice. It is an important parameter for the braking performance and affects the braking stability and efficiency. In this thesis, an experimental method is suggested, which is a reliable way to decide the best slip ratio through dynamo tests simulating aircraft taxiing conditions. The obtained best slip ratio is proved its validity by results of aircraft taxiing tests.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.357-360
• /
• 1997

This paper presents a new anti-lock brake system(ABS) using electro-rheological(ER) valve actuators for the wheel slip control. The hydraulic dynamic model of the automotive brake system is formulated by incorporating electric field-dependent Bingham properties of ER fluid obtained experimentally. The brake system designed by this hydraulic model is able to control wheel slip by controlling the intensity of electric field which tunes the braking torque. The control fields of the ER valve to command desired wheel slip are determined by a sliding mode controller. A comparison between the proposed brake system and the conventional brake system is made by providing with computer simulations of vehicle motions under ABS performance requirement condition.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.21 no.1
• /
• pp.78-85
• /
• 2013

This paper presents the sliding mode control methods for anti-lock brake system (ABS) with the friction force observer. Using a simplified quarter car model, the sliding mode controller for ABS is designed to track the desired wheel slip ratio. Here, new method to find the desired wheel slip ratio which produces the maximum friction force between road and tire is suggested. The desired wheel slip ratio is varying according road and tire conditions to produce maximum friction force. In order to find optimum desired wheel slip ratio, the sliding mode observer for friction force is used. The proposed sliding mode controller with observer is evaluated in simulation, and the control design is shown to have high performance on roads with constant and varying adhesion coefficients.

• Journal of Korea Technical Association of The Pulp and Paper Industry
• /
• v.37 no.3
• /
• pp.33-40
• /
• 2005

In this study, a nano-colloidal silica sol was applied to control the anti-slip property by spraying on kraft paper. Two kinds of nano-colloidal silica sol which have cationic and anionic charge were applied in kraft paper, and the friction and physical strength properties of kraft paper were investigated. The application of colloidal silica sol on wet web in wet-end process by spraying method was tried to improve the friction property and to avoid the general problems of machine contaminations caused by the scattering of sprayed silica particles in dryer part. The physical properties of sheet were also improved by the application of wet web spraying method, and the optimum conditions of wet web spraying operation were closely related with the conditions of pH and electrical charge of wet web and silica sol.