• Journal of Electrical Engineering and Technology
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• v.12 no.2
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• pp.937-943
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• 2017

To design an automatic steering controller with high performance for autonomous vehicle, it is necessary to have a precise model of the lateral dynamics with respect to the steering command input. This paper presents an empirical modeling of the steering system for an autonomous vehicle. The steering system here is represented by three individual transfer function models: a steering wheel actuator model from the steering command input to the steering angle of the shaft, a dynamic model between the steering angle and the yaw rate of the vehicle, and a dynamic model between the steering command and the lateral deviation of vehicle. These models are identified using frequency response data. Experiments were performed using a real vehicle. It is shown that the resulting identified models have been well fitted to the experimental data.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.510-518
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• 2008

This paper presents recent development of (semi)-active steering bogies for railway vehicles and introduce the state-of-art of related technologies. Steering bogies have been studied in various researchers since they can offer high ride quality for passengers and reduce the maintenance costs of wheel and rail wear. Especially, they are considered to be a fundamental solution to dramatically reduce the squeal noise on tight curves. However, passive steering bogies such as self-steering bogies and forced steering bogies have shown their limits to cope with the various running conditions. Therefore, (Semi)-active steering bogies have been studied to overcome the drawbacks of the passive steering bogies. As a result, an active steering bogie, so called mechatronic bogie, is developed successfully in Europe and it has shown remarkable performance in test line.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.2
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• pp.69-73
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• 1998

With increased loads in steered wheels and wider section tires the effort required at the steering wheel makes the driver's job very tiring and difficult. Improvements such as an increase in the mechanical efficiency of the steering system or lower steering box ratios help the reduce driver fatigue. Now using of power steering is increasing. It needs to be considering parts size of steering system as using power steering. This paper presents adjust part size of steering system form estimating reliability according to reducing torque under the dynamic load, In this paper, the spider of universial joint is selected to prove relation between steering and power steering reliability.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.23 no.6 s.165
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• pp.931-942
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• 1999

This paper develops a 3 DOF vehicle model which includes lateral, roll and yaw motion to study a 4WS vehicle. The model is used for the simulation of a 4WS vehicle behavior, and to derive a control algorithm for rear wheel steering. This paper uses a feedforward plus feedback control scheme to compute a rear wheel steering angle. The feedforward control scheme for computing the first rear wheel steering angle uses a gain which is acquired by multiplying a proper value on a gain to maintain a zero sideslip angle. The feedback control scheme for computing the second rear wheel steering angle uses fuzzy logic and model following control scheme. A linear 2 DOF model is used as a reference model for model following control, and is derived from the developed 3 DOF model by neglecting sprung mass roll motion. A reference state variable is yaw rate, and is computed using the linear 2 DOF model. J-turn and lane change maneuver simulation are performed to show the effectiveness of the developed control scheme. The simulation results show that the 4WS vehicle with the developed control scheme has much better performance in yaw rate, lateral acceleration, roll angle, and sideslip angle than the 2WS vehicle. Also, the results show that the performance of the developed control is close to the one of an optimal control which assumes all states are perfect.

• Journal of Korean Institute of Industrial Engineers
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• v.35 no.2
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• pp.141-149
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• 2009

As the number of personal computers installed in vehicles increases, a touchpad often used in a labtop computer can be used for the control of an in-vehicle information system (IVIS). Using a touchpad to control the system allows the user to select among large amount of information with a single touch of dragging. For safety and convenience of a driver, the touchpad could be placed on a steering wheel. This research is designed to calculate the most efficient Control-Response Ratio (C/R ratio) for the menu interaction of a touchpad on a steering wheel. Since the menu pointer's rate of movement and proper C/R ratio is determined by the amount of selected information, the amount of displayed information and the movement of a menu pointer was chosen to be independent variables. The dependent variables are a user's preference and task completion time. Two factor full factorial within subject design was used 16 subjects. The investigation revealed that the amount of selected information increased with increasing C/R ratio. The movement of the pointer became slower as the amount of information increased. The best C/R ratio was calculated for each amount of information and preference regression of the user's preference was drawn accordingly. Through this research, the automobile interior designer can benefit from the guidelines suggested for the touchpad control.

• Journal of Aerospace System Engineering
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• v.17 no.4
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• pp.126-132
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• 2023

Recently, the consideration of eco-friendly technology to reduce greenhouse gas is being emphasized in the aviation field. Various studies for applying electro-mechanical actuators that control mechanical linear and rotational movements using electricity as the primary power source are in progress. In this study, the fatigue analysis of the electro-mechanical actuator for the front wheel steering of a single aisle aircraft was carried out. A unit load stress table was constructed for the vulnerable part selected through structural analysis, and the representative stress for each load profile was calculated using the unit load stress table constructed for the vulnerable part. Then, individual profiles of representative stress group were extracted from continuous load profiles by applying the rainflow counting method. The damage of each profile was calculated by applying the S-N diagram. Finally, the total damage in the vulnerable parts was calculated by the linear cumulative damage law, and the fatigue life of the electro-mechanical actuator for the front wheel steering of a single aisle aircraft was evaluated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2883-2890
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• 2000

In this study, a Hardware-In-The-Loop-Simulation(HILS) system for developing a Electric-Power-Steering(EPS) system is designed. To test a EPS by HILS system, a mathematical vehicle model with a steering system model has been constructed. This mathematical model has been constructed. This mathematical model has been downloaded to the Digital-Signal-Processor(DSP) board. To realize the lateral force acting on the front wheel in a real car. the steering wheel angle sensor and vehicle velocity have been used for input signal. The force sensor has been used for a feedback signal. The full vehicle states could by simulated by the HILS system. Consequently, the HILS system could by used to analyze control-parameters of a EPS that contributes to the maneuverability and stability of a vehicle. At the same time, the HILS system can evaluate the whole performance of the vehicle-steering system. Also the HILS system could do test could not be executed in real vehicle. The HILs system will useful for developing the control logic for the EPS system.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.444-451
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• 2005

The analysis of human arm motion during steering maneuver is carried out for investigation of man-machine interface of driver and steering system Each arm is modeled as interconnection of upper arm, lower arm, and hand by rotational joints that can properly represents permissible joint motion, and both arms are connected to a steering wheel through spring and damper at the contact points. The joint motion law during steering motion is determined through the measurement of each arm movement, and subsequent inverse kinematic analysis. Combining the joint motion law and inverse dynamic analysis, joint stiffness of arm is estimated. Arm dynamic analysis model for steering maneuver is setup, and is validated through the comparison with experimentally measured data, which shows relatively good agreement. To demonstrate the usefulness of the arm model, it is applied to study the effect of steering column angle on the steering motion.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.6
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• pp.86-94
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• 2019

This paper describes the development of unmanned vehicle remote control system which is configured with steering and accelerating/braking hardware to improve the sense of reality and safety of control. Generally, in these case of the remote control system, a joystick-type device is used for steering and accelerating/braking control of unmanned vehicle in most cases. Other systems have been developing using simple steering wheel, but there is no function of that feedback the feeling of driving situation to users and it mostly doesn't include the accelerating/braking control hardware. The technology of feedback means that a reproducing the feeling of current driving situation through steering and accelerating/braking hardware when driving a vehicle in person. In addition to studying feedback technologies that reduce unfamiliarity in remote control of unmanned vehicles, it is necessary to develop the remote control system with hardware that can improve sense of reality. Therefore, in this study, the reliable remote control system is developed and required system specification is defined for applying force-feedback haptic control technology developed through previous research. The system consists of a steering-wheel module similar to a normal vehicle and an accelerating/braking pedal module with actuators to operate by feedback commands. In addition, the software environment configured by CAN communication to send feedback commands to each modules. To verify the reliability of the remote control system, the force-feedback haptic control algorithms developed through previous research were applied, to assess the behavior of the algorithms in each situation.

• Journal of the Korean Society for Railway
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• v.11 no.3
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• pp.225-232
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• 2008

AWS (all wheel steering) is applied to improve the stability and the turning performance. Most automotive cars are mainly controlled by FWS (front wheel steering) system except some cars which are made to improve their stability by using AWS. Articulated vehicles with a pivoting joint for easy turn are difficult to make a sharp turn because of the long body and long wheelbase. Therefore applying AWS to the articulated vehicles is effective to reduce the turning radius. The AWS control method for the articulated vehicles is currently applied to only Phileas vehicles which were developed by APTS. The paper on the design of a controller to guide an articulated vehicle along the path was published but control algorithm for manual driving has not been reported. In the present paper, steering, characteristics of the Phileas vehicles have been analyzed and then new algorithm has been proposed. To verify the AWS algorithm, Commercial S/W, ADAMS was used for validity of the dynamic model and algorithm.