• Structural Engineering and Mechanics
• /
• 제68권5호
• /
• pp.633-638
• /
• 2018

One of the important problems in the vehicle design is vehicle handling and stability. Effective parameters which should be considered in the vehicle handling and stability are roll angle, camber angle and scrub radius. In this paper, a planar vehicle model is considered that two right and left suspensions are double wishbone suspension system. For a better analysis of the suspension geometry, a kinestatic model of vehicle is considered which instantaneous kinematic and statics relations are analyzed simultaneously. In this model, suspension geometry is considered completely. In order to optimum design of double wishbones suspension system, a multi-objective genetic algorithm is applied. Three important parameters of suspension including roll angle, camber angle and scrub radius are taken into account as objective functions. Coordinates of suspension hard points are design variables of optimization which optimum values of them, corresponding to each optimum point, are obtained in the optimization process. Pareto solutions for three objective functions are derived. There are important optimum points in these Pareto solutions which each point represents an optimum status in the model. In other words, corresponding to any optimal point, a specific geometric position is determined for the suspension hard points. Each of the obtained points in the Pareto optimization can be selected for a special design purpose by designer to create an optimum condition in the vehicle handling and stability.

• 한국항해항만학회지
• /
• 제28권6호
• /
• pp.469-474
• /
• 2004

본 논문에서는 비 홀로노믹적인 구속조건을 갖는 수중 이동체의 위치 및 자세제어에 관한 제어기법에 대해서 논의한다. 비 홀로노믹시스템은 적분 불가능한 구속조건으로부터 도출되어지는 시스템으로 연속시간영역의 피드백제어로는 평형점에서의 안정화제어가 불가능한 특성을 가지고 있다. 본 연구에서는 속도의 비 홀로노믹 구속조건을 가지는 수중 이동체에 대하여 체인드폼으로 변환하고 변환된 시스템에 대해 백스테핑 제어기법을 적용하여 자세제어를 행하였으며 수치시뮬레이션을 통하여 제어기법의 유용성을 평가하였다.

• 한국정밀공학회지
• /
• 제20권6호
• /
• pp.178-188
• /
• 2003

A study on the dynamic analysis of a tracked vehicle for mining on deep-sea bed with very soft soil is presented. An equation for the interaction between track and soft soil is employed to develop a track/soil interaction module called TVAS. The vehicle is modeled as a multi-body dynamic system using a multi-body dynamic analysis program. The developed module is incorporated into the multi-body dynamic analysis program with a user subroutine. The dynamic behavior and design of the mining vehicle on deep-sea bed is investigated.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.306-306
• /
• 2000

This paper analyze the dynamic characteristics of Automated Guided Vehicle(AGV) which is being developed as a part of automation in port through DADS, one of the multi-dynamic analysis program, Previous evaluation of a vehicle is carried out through the continuous driving test of a real vehicle, however this method raise the loss of finance and time. If it is possible to analyze the dynamic characteristics of vehicle before construction completely we can compensate the loss of money and time during constructing. AGV contained containers is very heavy and its center of gravity can be easily changed with the disturbance from road or cornering. It makes AGV unsatisfied, therefore we evaluate the handling characteristics and stability of the full vehicle model. This paper contribute to establish the foundation of the development of a new system like a AGV which have a special structure.

• Journal of Advanced Marine Engineering and Technology
• /
• 제31권4호
• /
• pp.335-342
• /
• 2007

A propulsion and lift shafting system in an air cushion vehicle is flexible multi-elements system which consists of two aeroderivative gas turbines with own bevel gears, four stage lift fan reduction gear, two stage propulsion reduction gear air propellers and high capacity of lifting fans. In addition, the system includes the multi-branched shafting with multi-gas turbine engines and thin walled shaft with flexible coupling. Such a branched shafting system has very intricate vibrating characteristics and especially, the thin walled shaft with flexible couplings can lower the torsional natural frequencies of shafting system to the extent that causes a resonance in the range of operating revolution. In this study, to evaluate vibrational characteristics some analytical methods for the propulsion and lift shafting system are studied. The analysis, including natural frequencies and mode shapes, for five operation cases of the system is conducted using ANSYS code with a equivalent mass-elastic model.

• Journal of Power Electronics
• /
• 제15권5호
• /
• pp.1244-1255
• /
• 2015

This paper presents a new multi-machine robust control based on an electric differential system for electric vehicle (EV) applications which is composed of four in-wheel permanent magnet synchronous motors. It is based on a new master-slave direct torque control (DTC) algorithm, which is used for the control of bi-machine traction systems based on a speed model reference adaptive system observer. The use of an electric differential in the design of a new EV constitutes a technological breakthrough. A classical system with a multi-inverter and a multi-machine comprises a three-phase inverter for each machine to be controlled. Another approach consists of only one three-phase inverter for several permanent magnet synchronous machines. The control of multi-machine single-inverter systems is the subject of this study. Several methods have been proposed for the control of multi-machine single-inverter systems. In this study, a new master-slave based DTC strategy is developed to generate an electric differential system. The entire system is simulated by Matlab/Simulink. The simulation results show the effectiveness of the new multi-machine robust control based on an electric differential system for use in EV applications.

• 한국자동차공학회논문집
• /
• 제12권5호
• /
• pp.125-135
• /
• 2004

The validity of simulation has been well-established for decades in areas such as computer and communication system. Recently, the technique has become entrenched in specific areas such as transportation and traffic forecasting. Several methods have been proposed for investigating complex traffic flows. However, the dynamics of vehicles and their driver's characteristics, even though it is known that they are important factors for any traffic flow analysis, have never been considered sufficiently. In this paper, the traffic simulation using a multi-agent approach with considering vehicle dynamics is proposed. The multi-agent system is constructed with the traffic environment and the agents of vehicle and driver. The traffic environment consists of multi-lane roads, nodes, virtual lanes, and signals. To ensure the fast calculation, the agents are performed on the based of the rules to regulate their behaviors. The communication frameworks are proposed for the agents to share the information of vehicles' velocity and position. The model of a driver agent which controls a vehicle agent is described in the companion paper. The vehicle model contains the nonlinear subcomponents of engine, torque converter, automatic transmission, and wheels. The simulation has proceeded for an interrupted and uninterrupted flow model. The result has shown that the driver agent performs human-like behavior ranging from slow and careful to fast and aggressive driving behavior, and that the change of the traffic state is closely related with the distance and the signal delay between intersections. The system developed shows the effectiveness and the practical usefulness of the traffic simulation.

• International Journal of Naval Architecture and Ocean Engineering
• /
• 제4권2호
• /
• pp.96-111
• /
• 2012

Hull Mounted Sonar (HMS) is a long range submerged vehicle's hull-mounted passive sonar system which detects low-frequency noise caused by machineries of enemy ships or submerged vehicles. The HMS needs a sound absorption /insulation multi-layer structure to shut out the self-noise from own machineries and to amplify signals from outside. Therefore, acoustic analysis of the multi-layer system should be performed when the HMS is designed. This paper simplified the HMS multi-layer system to be an infinite planar multi-layer model. Also, main excitations that influence the HMS were classified into mechanical, plane wave and turbulent flow excitation, and the investigations for each excitation were performed for various models. Stiffened multi-layer analysis for mechanical excitation and general multi-layer analysis for turbulent flow excitation were developed. The infinite planar multi-layer analysis was expected to be more useful for preliminary design stage of HMS system than the infinite cylindrical model because of short analysis time and easiness of parameter study.

• 대한기계학회논문집A
• /
• 제25권2호
• /
• pp.323-329
• /
• 2001

In this paper, we present a collaborative method for material delivery using a distributed vehicle agents system. Generally used AGV(Autonomous Guided Vehicle) systems in FA require extraordinary facilities like guidepaths and landmarks and have numerous limitations for application in different environments. Moreover in the case of controlling multi vehicles, the necessity for developing corporation abilities like loading and unloading materials between vehicles including different types is increasing nowadays for automation of material flow. Thus to compensate and improve the functions of AGV, it is important to endow vehicles with the intelligence to recognize environments and goods and to determine the goal point to approach. In this study we propose an interaction method between hetero-type vehicles and adaptive fuzzy logic controllers for sensor-based path planning methods and material identifying methods which recognizes color. For the purpose of carrying materials to the goal, simple color sensor is used instead vision system to search for material and recognize its color in order to determine the goal point to transfer it to. The proposed method reaveals a great deal of improvement on its performance.

• 한국정밀공학회지
• /
• 제18권5호
• /
• pp.42-49
• /
• 2001

In This paper, we present a collaborative method for material delivery using a distributed vehicle agents system. Generally used AGV(Autonomous Guided Vehicle) systems in FA(Factory Automation) require extraordinary facilities like guidepaths and landmarks and have numerous limitations for application in different environments. Moreover in the case of controlling multi vehicles, the necessity for developing corporation abilities like loading and unloading materials between vehicles including different types is increasing nowadays for automation of material flow. Thus to compensate and improve the functions of AGV, it is important to endow vehicles with the intelligence to recognize environments and goods and to determine the goal point to approach. In this study we propose an interaction method between hetero-type vehicles and adaptive fuzzy logic controllers for sensor-based path planning methods and material identifying methods which recognizes color. For the purpose of carrying materials to the goal, simple color sensor is used instead of intricate vision system to search for material and recognize its color in order to determine the goal point to transfer it to. The technique for the proposed method will be demonstrated by experiment.