• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.892-895
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• 1996

An unknown input observer is proposed that can be used in wheelbase preview control of commercial vehicles. The preview and state information, required to calculate actuator force, are reconstructed from the measurement variables such as heave and pitch acceleration. Gain matrix of observer is optimally selected so that influence of system and measurement noises on the estimation error can be minimized. Estimated preview information requires low pass filtering to eliminate high frequency components resulting from differentiation of noisy output signals. Effectiveness of the proposed method is demonstrated by numerical simulation of half car model.

• Journal of Biosystems Engineering
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• 제21권3호
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• pp.293-305
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• 1996

Effects on the tractor vibrations of tread, wheelbase and axle load distribution were analyzed by using mathematical models of tractor and random road surface. A 4 degrees of freedom tractor model was developed to predict the bounce, pitch and roll motions of tractor. The front axle which is constrained to roll with respect to tractor body was also included in the model. A random road profile was generated and used as an excitation input to the tractor. Output vibrations of the model were predicted and analyzed by a computer simulation method. In general, longer tread tends to reduce rolling and longer wheelbase does bouncing and pitching motions. Tractor vibrations were minimum when the ratio of front to rear axle loads was in the range of 30:70-35:65. Sensitivity analysis showed that rolling and pitching motions most sensitively varied with changes in tread and wheelbase while bouncing motion did with the location of mass center.

• International Journal of Automotive Technology
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• 제7권6호
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• pp.749-756
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• 2006

This paper presents a complex stochastic wheelbase preview control method of a motorcycle suspension based on hierarchical modeling method. As usual, a vehicle suspension system is controlled as a whole body. In this method, a motorcycle suspension with five Degrees of Freedom(DOF) is dealt with two local independent 2-DOF suspensions according to the hierarchical modeling method. The central dynamic equations that harmonize local relations are deduced. The vertical and pitch accelerations of the suspension center are treated as center control objects, and two local semi-active control forces can be obtained. In example, a real time Linear Quadratic Gaussian(LQG) algorithm is adopted for the front suspension and the combination of the wheelbase preview and LQG control method is designed for the rear suspension. The results of simulation show that the control strategy has less calculating time and is convenient to adopt different control strategies for front and rear suspensions. The method proposed in this paper provides a new way for the vibration control of multi-wheel vehicles.

• 한국디자인학회:학술대회논문집
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• 한국디자인학회 1998년도 제6회 1998 봄 학술연구발표대회 개요 집 디자인 학 연구
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• pp.15-16
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• 1998

• 제어로봇시스템학회논문지
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• 제8권6호
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• pp.498-505
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• 2002

Reducing odometer errors caused by kinematic imperfections in wheeled mobile robots is imestigated. Wheel diameters and wheelbase are corrected by using encoders without landmarks. A new velocity trajectory is proposed that compensates for an orientation error due to acceleration- resolution constraints on motor controllers. Based on this velocity trajectory, the wheel velocity of one out of two driven wheels may be changed by the traveled distance of the mobile robot. It is shown that a wheeled mobile robot can't move along a straight line exactly, even if kinematic correction are achieved perfectly, and this phenomenon is attributable to acceleration-resolution constraints on motor controllers. We experiment on a wheeled mobile robot with 2 d.o.f. are used in the experiment to verify the proposed scheme.

• International Journal of Railway
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• 제3권3호
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• pp.95-105
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• 2010

In this paper, a procedure is proposed to optimize bogie suspension parameters in view of minimizing wheel wear produced by curve negotiation, though meeting stability requirements. The problem is dealt with in the form of a constrained minimization problem, in which wheel wear evaluated over a given service scenario is introduced as the cost function to be minimized, and the requirements on vehicle stability are formulated in terms of constraints. The procedure is applied to the case of a non-powered passenger car for high-speed service, and the results obtained are discussed. It is shown that long wheelbase bogie may provide better overall performances than bogies having comparatively short wheelbase. Furthermore, a sensitivity analysis is performed, to define the effect on the optimization results of improving the performances of the yaw dampers in the bogie and of using a different wheel profile.

• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.931-938
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• 2008

In this paper, a novel localization algorithm robust to the unmodeled systematic odometry errors is proposed for low-cost non-holonomic mobile robots. It is well known that the most pose estimators using odometry measurements cannot avoid the performance degradation due to the dead-reckoning of systematic odometry errors. As a remedy for this problem, we tty to reflect the wheelbase error in the robot motion model as a parametric uncertainty. Applying the Krein space estimation theory for the discrete-time uncertain nonlinear motion model results in the extended robust Kalman filter. This idea comes from the fact that systematic odometry errors might be regarded as the parametric uncertainties satisfying the sum quadratic constrains (SQCs). The advantage of the proposed methodology is that it has the same recursive structure as the conventional extended Kalman filter, which makes our scheme suitable for real-time applications. Moreover, it guarantees the satisfactoty localization performance even in the presence of wheelbase uncertainty which is hard to model or estimate but often arises from real driving environments. The computer simulations will be given to demonstrate the robustness of the suggested localization algorithm.

• 디자인학연구
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• 제13권2호
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• pp.25-32
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• 2000

승용차의 차체 비례는 시간의 경과와 시장에서의 승용차 특성 변화에 따라 변화되어 왔다. 일반적으로 세단형 승용차에서 캐빈의 비례는 승객을 위한 공간이라는 의미에서 더욱 중요성을 가진다. 그러나 이러한 캐빈의 비례도 각각의 모델의 컨셉트에 따라 변화되어 왔다. 국내 승용차의 캐빈 비례는 초기모델에서 통일된 전략이나 방향성을 보이지 않으나, 후기 모델에 가서는 특정한 비례로의 통일성을 보이고 있다. 이들 비례는 3박스 구조로 나뉘어 있는 차체의 소형과 준중형의 세단형 승용차에서는 축간 거리와 그린하우스의 비례가 각각 58%와 57%이며, 중형 승용차에서는 두 비례 모두 56% 정도로 계산되는데, 이것은 실내 공간 비례가 중형승용차보다 소형과 준중형이 더 높은 것을 알 수 있다. 소형 승용차와 세단형 승용차의 실내공간 비례는 향후에도 증가하여 60%의 비율에 근접할 것으로 예측되며, 이 경향은 중형 세단형 승용차에서도 나타날 것으로 보인다.

• 한국자동차공학회논문집
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• 제8권5호
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• pp.188-195
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• 2000

This study was conducted to develop the mathematical model and the computer simulation program(TPPMWV) for predicting the tractive performance of off-road wheeled vehicles operated on various soil conditions. The model takes into account main design parameters of a wheeled vehicle, including the radius and width of front and rear tires, the weight of vehicle, wheelbase and driving type(4WD, 2WD). Soil characteristics, such as the peressure-sinkage and shearing characteristics and the response to repetitive loading, are also taken into consideration. The effectiveness of the developed model was verified by comparing the predicted drawbar pulls using TPPMWV with measured ones obtained by field tests for two different driving types of wheeled vehicle. As a results, the drawbar pulls predicted by the TPPMWV were well matched to the measured ones within the absolute errors of 5.25%(4WD) AND 9.42%(2WD)for two different driving types, respectively.

• 대한안전경영과학회:학술대회논문집
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• 대한안전경영과학회 2005년도 춘계학술대회
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• pp.51-57
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• 2005

There are very large differences on the standards of gross weight and single axle weight for commercial motor vehicles between international and Korean standards. Short Wheelbase Truck are produced and run only in Korea. It has very serious effects on the durabilities of bridges and roads and makes logistic competitive power fall back and overconsuming energy. This paper deals with a comparative study of the international standards with Korean, grasps the drawbacks and makes up the suggestions to strengthen the logistic competitive power of Korea and reduce the maintenance cost for the roads and the consumption of energy.