• 대한기계학회논문집A
• /
• 제23권6호
• /
• pp.931-942
• /
• 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.

• 한국지능시스템학회논문지
• /
• 제9권5호
• /
• pp.480-489
• /
• 1999

Design and experimental results of yaw rate controller is described for electricallydriven four wheel vehicle without steering mechanism. Yaw rate controller has been known to be necessary to cope with nonlinear char-acteristics of the wheel/road conditions with respect to different road condition and steering angle. For an effective yaw rate control, a fuzzy PID gain scheduler is considered with changing control parameters. In order to apply proposed algorithm to the system a downsized four wheel drive electrically driven vehicle without steering mechanism was manufactured. With these techniques the proposed yaw rate controller is shown by experiment results to be obtained suficient performance in the whole steering regions.

• 한국자동차공학회논문집
• /
• 제6권2호
• /
• pp.107-117
• /
• 1998

As the traffic congestion and parking problems in urban areas are increased the tall and narrow commuter vehicles have interested as a means to increase the utilization of existing freewa- ys and parking facilities. However, in hard cornering those vehicles could reduce stability against overturning compared to conventional vehicles. This tendency can be mitigated by tilting the body toward the inside of the turn. In this paper those tilting vehicles are considered in which at speed at least, the tilt angle is controlled by steering the front wheels. In other word, if the driver turns the steering wheel the tilt controller automatically steers the road wheel to tilt the body inside of the turn. Also, the dynamic tilting vehicle model with tire slip angles is constructed by adding the roll degree of freedom. Finally, through computer simulation the behaviors of the tilting vehicles are investigated.

• 한국정밀공학회지
• /
• 제28권8호
• /
• pp.942-950
• /
• 2011

Automation is important in modern agricultural environment, which demands the highest level of technology. In the paper an independent four-wheel steering driving platform is developed especially for horticulture in glass house farm. Mathematical modeling of the four wheel system is carried out for smooth movement. The relationships between steering angle, the turning radius, and escape trajectory are simulated using the dynamic analysis program. Optimal driving algorithm is sought through the performance evaluation.

• 한국농업기계학회:학술대회논문집
• /
• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
• /
• pp.1055-1062
• /
• 1996

A method for automatically driving paddy vehicles, such as rice transplanters, etc., straight ahead in a paddy field was investigated . The direction of such vehicles must be precisely controlled to do the operations as straight. However, the alignment of the from wheels becomes distorted due to the unevenness of the ground, preventing the vehicle form going straight. If the proper alignment of the front wheels is maintained , the vehicle can be driven straight ahead greater precision. To investigate the influence of the ground uneveness, the behavior of a paddy vehicle running over an obstacle was quantified. The left wheel ran over an obstacle on a flat concrete road surfaced. When the steering wheel was free, the front wheels were forced toward the left when vehicle went up the obstacle and toward the right when the vehicle went down it. The torsion of the wheel when the vehicle went down the obstacle was larger than that when it went up ,so it turned right 5 degrees. Sinc hydraulic control steering decreased the steering angle , it turned right 3 degrees. These results suggest that a vehicle can be driven straight ahead with high precision when the steering angle is changed in response to the direction and inclination of the vehicle . Such results were obtained in a paddy field tests.

• 한국자동차공학회논문집
• /
• 제20권6호
• /
• pp.17-23
• /
• 2012

An integrated dynamic control (IDCF) with an active front steering system and an active rear braking system is proposed and developed in this study. A fuzzy logic controller is applied to calculate the desired additional steering angle and desired slip of the rear inner wheel. To validate IDCF system, an eight degree of freedom, nonlinear vehicle model and a sliding mode wheel slip controller are also designed. Various road conditions are used to test the performance. The results show that the yaw rate of IDCF vehicle followed the reference yaw rate and reduced the body slip angle, compared with uncontrolled vehicle. Thus, the IDCF vehicle had enhanced lateral stability and controllability.

• 한국자동차공학회논문집
• /
• 제8권4호
• /
• pp.186-193
• /
• 2000

EPS(Electric Power Steering) systems have many advantages over traditional hydraulic power steering systems in space efficiency engine efficiency and environmental compatibility. In this paper an EPS system control logic using a torque map is proposed. The main function of the EPS system is to reduce the steering torque exerted by a driver by assist of an electric motor. Vehcile speed steering torque and steering wheel angle are measured and fed back to the EPS control system where appropriate assist torque is generated to assist the operator's steering effort. Another capability of the EPS system for easy adaptation to different steering feels via simple tuning is demonstrated by the experiments. It will be also verified that the EPS system can also improve damping and return performance of the steering wheel by control of the assist motor.

• 한국항공우주학회지
• /
• 제42권12호
• /
• pp.997-1003
• /
• 2014

무인항공기의 자동이착륙을 성공적으로 수행하기 위해서는 자동 지상활주 제어는 반드시 설계되어야 하는 중요한 부분이다. 이러한 지상활주 제어기를 설계하기 위해서는 정확하고 신뢰도 높은 착륙장치 모델은 반드시 필요하다. 본 연구에서는 착륙장치 모델링을 완성하기 위해서 특별히 착륙장치 측력 모델링을 수행하였다. 조향각 명령을 포함한 Cornering Angle을 계산하여 측력을 모델링하였다. 그리고 모델링된 착륙장치 모델을 포함한 비선형 6자유도 시뮬레이션 환경을 이용하여, 항공기의 바람벡터 방향인 Course Angle 오차를 해소하기 위한 전륜 조향(Nose Wheel Steering)과 러더 조향(Rudder Steering)을 동시에 이용하는 자동 지상활주 제어기를 설계하였다. 설계된 지상활주 제어기를 동일하게 적용하여, 착륙장치 모델을 포함한 시뮬레이션 결과와 실제 무인기를 이용한 자동 지상활주 시험 결과를 비교하였고, 이로써 착륙장치 측력 모델링과 지상활주 제어기의 정확성을 입증하였다.

• International Journal of Automotive Technology
• /
• 제6권6호
• /
• pp.615-623
• /
• 2005

In this research, an effective technique was examined to improve the drift running performance. Concretely, the driver model by which the counter steer was done was assumed to the model by which the vehicle body slip angle (and the vehicle body slip angle velocity) was feed back. Next, the effectiveness of the system which added the assist steer angle corresponding to the steering wheel angle velocity to a front wheel steer angle was clarified as a drift running performance improvement technique of the vehicle. As a result, because the phase advances when the differentiation steer assistance is added, it has been understood to be able to cover the delay of the counter steer when the drift running. Therefore, it has been understood that the drift control does considerably easily. Moreover, it has been understood that the differentiation steer assistance acts effectively at the drift cornering by which the drift angle is maintained in cornering and the severe lane change with a drift at a situation. That is, it was understood to be able to settle to the drift angle of the aim quickly at the time of the drift cornering because the delay of the control steer angle of the counter steer was improved. Moreover, it was understood for the transient overshoot of the vehicle tracks to be able to decrease, and to return to the state of stability quickly at the severe lane change.

• 전자공학회논문지 IE
• /
• 제49권2호
• /
• pp.30-39
• /
• 2012

졸음운전은 사고발생 확률이 높고, 사고 발생 시 심각도가 높기 때문에 효율적인 졸음운전 판단 시스템이 필요하다. 그러나 생체 신호나 비전을 이용한 졸음운전 판단시스템은 비용 측면에서 활용되기가 어렵다. 이에 본 논문에서는 추가적인 비용 없이 대부분의 차량에 기본 장착되어 있는 조향각 센서(steering angle sensor)와 차량정보(brake switch, throttle position signal, vehicle speed)를 이용하여 졸음운전자의 조향패턴 중 하나인 저킹 판단을 이용한 졸음운전 판단 알고리즘을 제안한다. 본 연구에서는 각 변수의 임계값을 제시하고, HILS(Hardware in the Loop Simulation)에서 CAN을 통해 취득한 차량의 데이터와 Matlab 프로그램을 이용하여 알고리즘을 평가한다.