• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.7 s.178
• /
• pp.1871-1877
• /
• 2000

Longitudinal and lateral forces acting at tire are known to be closely related to the tractive ability, braking characteristics, handling stability and maneuverability of ground vehicles. However, it is not feasible in the operating vehicles to measure the tire forces directly because of high cost of sensors, limitations in sensor technology, interference with the tire rotation and harsh environment. In this paper, in order to develop tire force monitoring system, a new vehicle dynamics monitoring model is proposed including the roll motion. Based on the monitoring model, tire force monitoring system is designed to estimate the lateral tire force acting at each tire. A newly proposed SKFMEC (Scaled Kalman Filter with Model Emr Compensator) method is developed utilizing the conventional EKF (Extended Kalman Filter) method. Tire force estimation performance of the SKFMEC method is evaluated in the Matlab simulations where true tire force data is generated from a 14 DOF vehicle model with a combined-slip Magic Formula tire model.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.21 no.2
• /
• pp.245-251
• /
• 1997

The dynamic behavior of elastic columns under the action of the subtangential force is studied in this paper. The subtangential force is the combination of the tip mass dead load and pure follower thrust. In this study, the tip mass is assumed to be a rigid body rather than a point mass. The equations of motion are derived based on the extended Hamilton's principle and the finite element method. Then the equations of motion are trasformed into a dimensionless form, and several parameters are identified. It is found that the critical subtangential force can be changed subtangentially by considering the parameters related to tip mass. It is also shown that the nonconservativeness of the applied force has a significant effect on the type of instability. The influence of the self-weight of the column on the variation of the critical force is also investigated.

• Proceedings of the KSME Conference
• /
• 2000.04b
• /
• pp.599-604
• /
• 2000

In order to study unsteady aerodynamic loads on high speed trains passing by each other at the speed of 350km/h, three-dimensional flow fields around trains during the crossing event are numerically simulated using the three-dimensional Euler equations. The Roe's FDS with MUSCL interpolation is employed to simulate wave phenomena properly. An efficient moving grid system based on domain decomposition techniques is developed to analyze the unsteady flow field induced by the restricted motion of a train on a rail. The numerical simulations of the trains passing by on the double-track are carried out to study the effect of the train nose-shape, the train length and the existence of tunnel when the crossing event occur. Unsteady aerodynamic loads side force and drag force-acting on the train during the crossing are numerically predicted and anlayzed. It is found that the strength of the side force mainly depends on the nose-shape, and that of drag force on tunnel existence. And it is observed that the push-pull like impulsive force successively acts on each car and acts in different directions between the neighborhood cars. The maximum change of the impulsive force reaches about 3 tons. These aerodynamic force data are absolutely necessary for the evaluation of the stability of the high speed multi-car train. The results also indicate the effectiveness of the present numerical method for the simulation of unsteady flow field induced by the bodies in the relative motion.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.3 no.2
• /
• pp.244-250
• /
• 2003

In this paper, the relationship between a slave robot and the uncertain remote environment is modeled as the impedance to generate the virtual force to feed back to the operator. For the control of a tele-operated mobile robot equipped with camera, the tele-operated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approaching velocity of the obstacle. This virtual force is transferred back to the master over the Internet and the master(two degrees of freedom joystick), which can generate force, enables a human operator to estimate the position of obstacle in the remote environment. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. This force reflection improves the performance of a tele-operated mobile robot significantly.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.22 no.3
• /
• pp.130-135
• /
• 2014

In this paper, a new estimation method is proposed to calculate steering rack axial force using a 3 dimensional tire mesh model when a car is standing on the road. This model is established by considering changes of camber angle and contact patch between the tires and the ground according to steering angle. The steering rack bar axial force is estimated based on the static equilibrium equations of forces and moments. A tire friction force is supposed to act on the center point of the contact patch, and the proportional coefficient of friction depending on contact patch is suggested. Using the proposed estimation method, rack axial force sensitivity analysis is evaluated according to changes of suspension geometry. Then optimal motor power of Motor Driven Power Steering(MDPS) is evaluated using suggested rack forces.

• 정보저장시스템학회:학술대회논문집
• /
• 2005.10a
• /
• pp.75-80
• /
• 2005

Study for toner adhesion is known as an important role in electrophotography. In this research, a centrifugal detachment method was used to measure the adhesion force of several hundred particles simultaneously and to determine its sensitivity to particle size. For uncharged toner particles, we estimated the van der Waals force based on the centrifugal farce experiments. Then for charged toner particles, the centrifugal force experiments were carried out. The difference between the results for charged toner particles and the results for uncharged toner particles was compared with the image force calculated from a model which assumed that the toner charge was located at the center of the particle. In the calculations, experimental data obtained by E-SPART (Electrical- Single Particle Aerodynamic Relaxation Time) analyzer were used. The adhesion force of micro-sized toner particles deposited on the DR surface was found to be approximately 1${\~}$3 nN.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.7
• /
• pp.632-638
• /
• 2010

This paper presents an optimum tire force distribution method for 6WD/6WS(6-Wheel-Drive and 6-Wheel-Steering) electric vehicles. Using an independent steering and driving system, the performance of 6WD/6WS vehicles can be improved, as, for example, with respect to their maneuverability under low speed and their stability at high speed. Therefore, there should be a control strategy for finding the optimum tire forces that satisfy the driver's command and minimize energy consumption. From the driver's commands (steering angle and accelerator/brake pedal stroke), the desired yaw moment, the desired lateral force, and the desired longitudinal force were obtained. These three values were distributed to each wheel as the torque and the steering angle, based on the optimum tire force distribution method. The optimum tire force distribution method finds the longitudinal/lateral tire forces of each wheel that minimize the cost function, which is the sum of the normalized tire forces. Next, the longitudinal/lateral tire forces of each wheel are converted into the reference torque inputs and the steering wheel angle inputs. The proposed method was tested through a simulation, and its effectiveness was verified.

• Steel and Composite Structures
• /
• v.25 no.1
• /
• pp.19-34
• /
• 2017

The widespread damage to steel Moment Resisting Frames (MRFs) in past major earthquakes have underscored the need to understand the nonlinear inelastic behaviour of such systems. To assess the seismic performance of steel MRF, it is essential to model the nonlinear force-deformation behaviour of beam to column joints. To determine the extent of inelasticity in a beam to column joint, nonlinear finite element analysis is generally carried out, which is computationally involved and demanding. In order to obviate the need of such elaborate analyses, a simplistic method to predict the force-deformation behaviour is required. In this study, a simple, mechanics driven, hand calculation method is proposed to obtain the forcedeformation behaviour of strong axis beam to column moment joints. The force-deformation behaviour for twenty-five interior and exterior beam to column joints, having column to beam strength ratios ranging from 1.2 to 10.99 and 2.4 to 22, respectively, have been obtained. The force-deformation behaviour predicted using the proposed method is compared with the results of finite element analyses. The results show that the proposed method predicts the force-deformation behaviour fairly accurately, with much lesser computational effort. Further the proposed method has been used to conduct Nonlinear Dynamic Time History Analyses of two benchmark frames; close correspondence of results obtained with published results establishes the usefulness and computational accuracy of the method.

• Geomechanics and Engineering
• /
• v.29 no.3
• /
• pp.229-236
• /
• 2022

In this study, a model experiment and field experiment was conducted to introduce the optimal tensile force when constructing a non-open cut tunnel according to the ground conditions of sandy soil. CMR (Concrete Modular Roof) method is economical because of the high precision and excellent durability, and corrosion resistance, and the inserted parts can be used as the main structure of a tunnel. In addition the CMR method has a stable advantage in interconnection because the concrete beam is press-fitted compared to the NTR (New Tubular Roof) method, and the need for quality control can be minimized. The ground conditions were corrected by adjusting the relative density of sandy soil during the construction of non-open cut tunnels, and after introducing various tensile forces, the surface settlement according to excavation was measured, and the optimal tensile force was derived. As a result of the experiment, the amount of settlement according to the relative density was found to be minor. Furthermore, analysis of each tensile force based on loose ground conditions resulted in an average decrease of approximately 22% in maximum settlement when the force was increased by 0.8 kN per segment. Considering these results, it is indicated that more than 2.0 kN tensile force per segment is recommended for settlement of the upper ground.

• Structural Engineering and Mechanics
• /
• v.86 no.2
• /
• pp.221-235
• /
• 2023

To calculate the vibrations of a tout cable subjected to axial support excitations, a nonlinear relationship of cable force and the support displacement under static situations are employed to depict the quasi-static vibration of the cable. The dynamic components of quasi-static vibration are inputted as "direct loads" to cause the parametric vibrations on the cable. Both the governing equations of motion and deformation compatibility for parametric vibrations are then derived, which indicates the high coupling of cable parametric force and deformation. Numerical solutions, based on the finite difference method, are put forward for the parametric vibrations, which is validated by the finite element method under periodic axial support excitations. For the quasi-static response, the shorter cables are more sensitive to support excitations than longer ones at small cable force. The quasi-static cable force makes the greatest contribution to the total cable force, but the parametric cable force is responsible for the occurrence of cable loosening at large excitation amplitudes. Moreover, this study also revealed that the traditional approach, assuming a linear relationship between quasi-static cable force and axial support displacement, would result in some great error of the cable parametric responses.