• Korean Journal of Agricultural Science
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• v.45 no.1
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• pp.120-127
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• 2018

The rural labor force has gradually been decreasing due to the decrement of the farm population and the increment of the aging population. To solve these problems, it is necessary to develop and study autonomous agricultural machinery. Therefore, analyzing the dynamic behavior of vehicles in an autonomous agricultural environment is important. Until now, most studies on agricultural machinery, especially on ground vehicle dynamics, have been done by field tests. However, these field test methods are time consuming and costly with seasonal restrictions. A research method that can replace existing field test methods by using simulations is needed. In this study, we did basic research analyzing the effect of the travelling speed of a tractor on tire slip using simulation software. A tractor simulation model was developed based on field conditions following a straight path. The simulation was done for three ranges of speed: 20 - 30 km/h (considered the normal travelling speed range), 6 - 8 km/h (considered the plow tillage speed range) and 2 - 4 km/h (considered the rotary tillage speed range). The results of the simulation show that the slip ratio and slip angle values tended to increase as the traveling speed range of the tractor decreased. From the simulation results, it can be concluded that at low tractor speeds, it becomes more difficult to control the vehicle path. In future research, simulations will be done with various work environments such as a curved path as well as with various friction coefficient conditions, and the simulation results will be experimentally verified by applying them to an agricultural tractor.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2020.06a
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• pp.183-184
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• 2020

This study evaluated the effect of foam volume ratio on shear friction behavior of bottom ash based lightweight aggregate concrete (LWA_BA). The LWA_BA with different foam volume ratio ranged between 8 and 25 MPa for compressive strength(f_ck), 17.3~62.5 kN for shear capacity at first shear crack(V_cr), 31.1~73.8 kN for shear friction capacity(V_n), and 0.01~0.03 mm for slip at maximum peak load(S₀). f_ck decreased with increase in the foam volume ratio, showing that this trend was also observed in V_cr, V_n, and S₀.

• Transactions of the Korean Society of Automotive Engineers
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• v.25 no.1
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• pp.19-27
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• 2017

In this paper, a simulator hardware and control design for an electronic parking brake (EPB) are proposed for emergency vehicle braking when the hydraulic break and anti-lock brake systems (ABS) fail to function. EPB systems are designed specifically for park braking and are usually installed on the rear wheels. However, in an emergency situation when all vehicle brake systems fail, the EPB can be utilized to stop the vehicle and track the target slip ratio as the ABS. This paper analyzed the non-linear EBP of the type of motor on caliper (MoC) based on experiments. A simulator hardware is also designed to validate the performance of the designed EPB controller in terms of braking distance and performance in tracking the target slip ratio. Through the experimental analysis, it is confirmed that a sliding mode controller can be applied on a non-linear EPB to track the target slip ratio.

• Proceedings of the KSME Conference
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• 2001.06c
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• pp.293-298
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• 2001

In this paper, film thickness and temperature distribution are measured in EHL point contact at high roll/slip ratios. Infrared temperature mapping with two band pass filters, proposed by Ausherman (1976), is used to measure temperature distribution. And the optical interferometric method with two filters (red and green filters) is used to measure film thickness. Result of experiment showed that temperature rising at film and ball surface occurred very dramatically in Dimple zone. As slip velocity, roll/slip ratio and load increased, size of Dimple and temperature rising became more large. In addition, position and shape of Dimple were changed by roll/slip ratios, and increasing of Dimple size decreased traction coefficient. In short, it is appointed that the Dimple phenomenon be developed by the effect of viscosity wedge.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.58-69
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• 2014

This paper proposes a method for predicting maximum friction coefficients and optimal slip ratios as optimal control parameters for traction control or slip control of autonomous mobile robots on rough terrain. This paper focuses on strength of ground surface which indicates different characteristics depending on material types on surface. Strength of various material types can be estimated by Willoughby sinkage model and by a developed testbed which can measure forces, velocities, and displacements generated by wheel-terrain interaction. Estimated strength is collaborated on building improved Brixius model with friction-slip data from experiments with the testbed over sand and grass material. Improved Brixius model covers widespread material types in outdoor environments on predicting friction-slip characteristics depending on strength of ground surface. Thus, a prediction model for obtaining optimal control parameters is derived by partial differentiation of the improved Brixius model with respect to slip. This prediction model can be applied to autonomous mobile robots and finally gives secure maneuverability on rough terrain. Proposed method is verified by various experiments under similar conditions with the ones for real outdoor robots.

• International Journal of Automotive Technology
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• v.6 no.4
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• pp.359-365
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• 2005

The absolute longitudinal speed of a vehicle is estimated by using data from an accelerometer of the vehicle and wheel speed sensors of a standard 50-tooth antilock braking system. An intuitive solution to this problem is, 'When wheel slip is low, calculate the vehicle velocity from the wheel speeds; when wheel slip is high, calculate the vehicle speed by integrating signal of the accelerometer.' The speed estimator weighted with fuzzy logic is introduced to implement the above concept, which is formulated as an estimation method. And the method is improved through experiments by how to calculate speed from acceleration signal and slip ratios. It is verified experimentally to usefulness of estimation speed of a vehicle. And the experimental result shows that the estimated vehicle longitudinal speed has only a $6\%$ worst-case error during a hard braking maneuver lasting a few seconds.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.174.4-174
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• 2001

Vehicle stability control system can enhance the vehicle stability and handling in the emergency situations through the control of traction and braking forces at the individual wheels. To achieve the desired performance, the wheel slip controller manages the hydraulic braking system to generate the desired braking force at each wheel. In this study, we propose the wheel slip controller for the generation of the braking forces based on multiple sliding mode control theory with the pulse width modulation. The proposed controller follows to the slip ratio and the brake pressure the desired ones so that the vehicle stability controller can Intervene braking force at each wheel. We show the validity and usefulness of the proposed controller through computer simulations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.11
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• pp.1288-1293
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• 2009

This paper discusses about modeling method to simulate a nonlinear behavior like sliding or rocking of two stacked body system under earthquake condition. A double body system design can be an option to reduce seismic response of a component in comparison to a single body system for free standing structures. Therefore, according to the priority of components, the structure is to be designed by proper ratio of partition in their height for improvement of seismic capability and structural integrity. Nonlinear modeling and analysis using simple rigid body and dynamic system has been performed to check the trend in such cases. As a result, one of the two bodies can be chosen to reduce the seismic response from energy absorption of the other one by appropriate application of friction ratios not only in slip-slip condition but in slip-rock condition.

• Multiscale and Multiphysics Mechanics
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• v.1 no.3
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• pp.261-270
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• 2016

The longitudinal velocity (forward speed) having significant importance in proper running of railway wheelset on track, depends greatly upon the adhesion ratio and creep analysis by implementation of suitable dynamic system on contamination. The wet track condition causes slip and slide of vehicle on railway tracking, whereas high speed may also increase slip and skidding to severe wear and deterioration of mechanical parts. The basic aim of this research is to design appropriate model aimed estimator that can be used to control railway vehicle forward velocity to avoid slip. For the filtration of disturbance procured during running of vehicle, the kalman filter is applied to estimate the actual signal on preferered samples of creep co-efficient for observing the applied attitude of noise. Thus error level is detected on higher and lower co-efficient of creep to analyze adhesion to avoid slip and sliding. The skidding is usually occurred due to higher forward speed owing to procured disturbance. This paper guides to minimize the noise and error based upon creep coefficient.

• Journal of the Earthquake Engineering Society of Korea
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• v.24 no.5
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• pp.219-232
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• 2020

The slip-weakening model developed by Ohnaka and Yamashita is extended over the breakdown zone by equating the scaling relationships for the breakdown zone and the whole rupture area. For the extension, the study uses the relationship between rupture velocity and radiation efficiency, which was derived in the theory of linear elastic fracture mechanics, and the definition of f_max given in the specific barrier model proposed by Papageorgiou and Aki. The results clearly show that the extended scaling relationship is governed by the ratio of rupture velocity to S wave velocity, and the velocity ratio can be determined by the ratio of characteristic frequencies of a Fourier amplitude spectrum, which are corner frequency, f_c, and source-controlled cut-off frequency, f_max, or vice versa. The derived relationship is tested by using the characteristic frequencies extracted from previous studies of more than 130 shallow crustal events (focal depth less than 25 km, M_W 3.0~7.5) that occurred in Japan. Under the assumption of a dynamic similarity, the rupture velocity estimated from f_max/f_c and the modified integral timescale give quite similar scale-dependence of the rupture area to that given by Kanamori and Anderson. Also, the results for large earthquakes show good agreement to the values from a kinematic inversion in previous studies. The test results also indicate the unavailability of the spectral self-similarity proposed by Aki because of the scale-dependent rupture velocity and the rupture velocity-dependent f_max/f_c; however, the results do support the local similarity asserted by Ohnaka. It is also remarkable that the relationship between the rupture velocity and f_max/f_c is quite similar to Kolmogorov's hypothesis on a similarity in the theory of isotropic turbulence.