• 동력기계공학회지
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• 제8권4호
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• pp.57-63
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• 2004

Conventionally, 2WS is used for vehicle steering, which can only steering front wheel. In case of trying to high speed lane change or cornering through this kind of vehicle equipped 2WS, it may occur much of Yaw moment. On the other hand, 4WS makes decreasing of Yawing Moment, outstandingly, so it is possible to support vehicle movement stable. And conventional ABS and TCS can only possible to control the longitudinal movement of braking equipment and drive which can only available to control of longitudinal direction. There after new braking system ESP was developed, which controls both of longitudinal and lateral, with adding of the function of controlling Active Yaw Moment. On this paper, we show about not only designing of improved braking and steering system through establishing of the integrated control system design of 4WS and ESP but also designing of the system contribute to precautious for advanced vehicle stability problem.

• 한국자동차공학회논문집
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• 제20권2호
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• pp.47-55
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• 2012

This work deals with dynamic analysis of a monorail system with magnetic caterpillar where magnets are embedded inside each articulated element of the caterpillar, augmenting traction force of main rubber wheels to climb up slope up to 15 degree grade. Considerations are first given to determine stiffness of the primary and secondary suspension springs in order for the natural frequencies of car body and bogie associated with vertical, pitch, roll and yaw motion to be within generally accepted range of 1-2 Hz. Equations for calculating magnetic force needed to climb up given slope are derived, and a magnetic caterpillar system for 1/6 scale monorail is designed based on the derivation. To assess the hill climbing ability and cornering stability, and make sure smooth operation of the side and vertical guiding wheels which is critical for safety, a multibody model that takes into account of every component level design characteristics of car, bogie, and caterpillar is set up. Through hill climbing simulation and comparison with measurement of the limit slope, the validity of the analysis and design of the magnetic caterpillar system are demonstrated. Also by studying the curving behavior, maximum curving speed without rollover, functioning of lateral motion constraint system, the effects of geometry of guiding rails are studied.

• 융합신호처리학회논문지
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• 제4권2호
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• pp.53-60
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• 2003

무게중심이 높은 차량은 코너링 시에 전복되는 위험을 방지하기 위해 서스펜션 롤 강성이 매우 커야 한다. 어떤 경우에는 효과적인 롤 강성이 주로 타이어 컴플라이언스에 의해 결정되는데, 그러한 경우에는 히브(heave) 진동의 감쇠를 위해 사용되는 쇽업쇼바는 롤 진동을 억제하는 데에는 별다른 효과가 없다. 따라서, 차량의 측면에 돌풍이 불거나 차량이 불규칙한 도로면을 통과하게 될 경우 차량이 좌우로 심하게 흔들리게 된다. 본 연구에서는 무게중심이 높은 차량의 안정성을 향상시키기 위해서 롤 모드 상에서 댐핑을 증가시킬 수 있는 제어기법이 제안되었다. 롤 운동의 댐핑을 제공하기 위해 요구되는 궤환신호로 앞 또는 뒤 또는 앞 뒤 바퀴의 조향각이 사용되었다. 그 이유는 그 신호들이 롤 운동과 매우 밀접하게 관련이 있기 때문이다. 제안된 제어기법은 중고속에서 매우 효과적이고 쇽업쇼바와는 달리 외적 입력에 대해 외란 모멘트를 생성하지 않고 롤 모드를 안정화시키는 것이 가능하다. 이론적으로 제시된 제어기법에 대한 타당성을 컴퓨터 시뮬레이션으로 확인하였다.