• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.487-492
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• 2000

Yaw moment control algorithm for improving stability of a vehicle in cornering is presented in this paper. A change of the yaw moment according to an increment in brake ship at each wheel is examined and reflected in the control algorithm. This control algorithm computes the target yaw velocity as the vehicle motion desired by the driver for directional stability control in cornering and it makes the actual yaw velocity follow the target one. The yaw moment control was achieved by brake slip control and simple brake slip control logic was introduced in this paper.

• Journal of Mechanical Science and Technology
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• 제14권8호
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• pp.836-844
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• 2000

In this research any abnormal motion of a vehicle is detected by utilizing the difference between the reference and actual yaw velocities as sell as the information on vehicle slip angle and slip angular velocity. This information is then used as a criterion for execution of the yaw moment control. A yaw moment control algorithm based on the brake control is proposed for improving the directional stability of the vehicle. The controller executes brake controls to provide each wheel with adequate brake pressures, which generate the needed yaw moment. It is shown that the proposed yaw moment control logic can provide excellent cornering capabilities even on low friction roads. This active control scheme can prevent a vehicle from behaving abnormally, and can assist normal drivers in coping with dangerous situations as well as experienced drivers.

• Tribology and Lubricants
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• 제27권4호
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• pp.204-208
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• 2011

Yaw brakes are used in wind turbines to control the orientation of blades to be perpendicular to the wind. These devices are very important machine elements because they are closely related to the overall efficiency of wind turbines. One unit of yaw brakes is composed of a friction pad and a caliper. In this study, a tangential force between the friction pad and the disk is calculated when the brake is acting in 750 kW wind turbine. Then, stress distribution and the deformation of the caliper are calculated using a finite element analysis. An experimental equipment is also developed to verify the exactness of calculated results. The analytical and experimental results are presented and discussed.

• 한국자동차공학회논문집
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• 제15권6호
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2006년도 춘계학술대회
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• pp.277-280
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• 2006

Using yaw system, Wind turbine can face the wind to make it's electricity generating maximum and to make it's fatigue load minimum. So, in wind turbine design process, selecting optimum yaw system is very important work. In this paper, the yaw moments on yaw bearing, yaw drive and yaw brake were calculated. and From the result, the duty cycle was obtained. At last, using this duty cycle, optimum yaw system is selected.

• 한국정밀공학회지
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• 제19권11호
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• pp.65-74
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• 2002

This paper examines the usefulness of a Brake Steer System (BSS), which uses differential brake forces for steering intervention in the context of Intelligent Transportation Systems (ITS). In order to help the car to turn, a yaw moment can be achieved by altering the left/right and front/rear brake distribution. This resulting yaw moment on the vehicle affects lateral position thereby providing a limited steering function. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. A 8-DOF nonlinear vehicle model including STI tire model will be validated using the equations of motion of the vehicle. Then a controller will be developed. This controller, which will be a PID controller tuned by Ziegler-Nichols, will be designed to explore BSS feasibility by modifying the brake distribution through the control of the yaw rate of the vehicle.

• International Journal of Precision Engineering and Manufacturing
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• 제5권3호
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• pp.26-34
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• 2004

This paper examines the usefulness of a Brake Steer System(BSS), which uses differential brake forces for steering intervention in the context of Intelligent Transportation Systems(ITS). In order to help the car to turn, a yaw moment control was achieved by altering the left/right and front/rear brake distribution. This resulting yaw moment on the vehicle affects lateral position thereby providing a limited steering function. The steering function achieved through BSS was used to control lateral position in an unintended road departure system. A 8-DOF nonlinear vehicle model including STI tire model was validated using the equations of motion of the vehicle. Then a controller was developed. This controller, which is a PID controller tuned by Ziegler-Nichols, is designed to explore BSS feasibility by modifying the brake distribution through the control of the yaw rate of the vehicle.

• 한국기계가공학회지
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• 제21권5호
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• pp.22-27
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• 2022

An integrated front steering system and front brake system (FSFB) is developed to improve the stability and controllability of an SUV. The FSFB simultaneously controls the additional steering angle and front brake pressure. An active front steering system (AFS) and an active front brake system (AFB) are designed for comparison. The results show that the FSFB enhances the lateral stability and controllability regardless of road and running conditions compared to the AFS and AFB. As a result, the yaw rate of the SUV tracks the reference yaw rate, and the side slip angle decreases. In addition, brake pressure control is more effective than steering angle control in improving the stability and steerability of the SUV on a slippery road. However, this deteriorates comfort on dry or wet asphalt.

• 대한기계학회논문집A
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• 제24권8호
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• pp.1899-1909
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• 2000

This paper proposes a new $H_{\infty}$ yaw moment control scheme using brake torque switching for improving vehicle performance and stability especially in high speed driving. In the scheme, one wheel is selected, depending on the vehicle states, at which a brake torque for control is applied. Steering angles are modeled as a disturbance to the system and the $H_{\infty}$ controller is designed to minimize the difference between the performance of the vehicle and that of the desired model. Its performance robustness as well as stability robustness to system parameter variations is assured through ${\mu}$-analysis. Various simulations with a nonlinear 8-DOF vehicle model show that proposed controller enhances the vehicle performance and stability under disturbances and parameter variations as well as under the normal driving condition.

• 자동차안전학회지
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• 제14권2호
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• pp.7-13
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• 2022

This paper presents a yaw moment control based on estimated mass for manual-shift commercial vehicles. In yaw moment controller, parameter uncertantiy of vehicle mass is important because the desired yaw moment depends on vehicle parameter. However, in the case of commercial vehicle, the weight of the loaded vehicle is more than twice as much as compared to the unloaded vehicle. The proposed algorithm estimates the vehicle mass by using the longitudinal dynamic and gear shifting characteristics. The estimated mass is used to adaptively modify the vehicle parameters. In addition, this paper estimates the chamber pressure of a pneumatic brake and generates the target yaw moment through on/off valve control. MATLAB/Simulink and Trucksim were performed under sine with dwell test. The results demonstrate that the proposed algorithm improves the lateral and rollover stability.