• 대한기계학회논문집A
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• 제27권5호
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• pp.666-672
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• 2003

This paper presents a design of the controller for vehicle lateral dynamics using active yaw moment. Vehicle lateral motion is incorporated with directional controllability and stability. These are conflicting each other from the view of vehicle handling performance. To compromise the trade-off between these two aspects, we suggest a new control algorithm based on the sliding mode with time-varying switching surface according to the body side slip angle. The controller can deal with the nonlinear region in vehicle driving condition and be robust to the parameter uncertainties in the plant model. Control performance is evaluated from the simulation for the vehicle of real parameters on the road with various tire-road frictions.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.369-374
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• 2007

This paper presents yaw vibration control performances of railway vehicle featuring controllable magnetorheological damper. A cylindrical type of MR damper is devised and its damping force is evaluated by considering fluid resistance and MR effect. Design parameters are determined to achieve desired damping force level. The MR damper model is then incorporated with the governing equations of motion of the railway vehicle which includes vehicle body, bogie and wheel-set. Subsequently, computer simulation of vibration control via proportional-integral-derivative (PID) controller is performed using Matlab. Various control performances are demonstrated under external excitation by creep force between wheel and rail.

• Wind and Structures
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• 제18권5호
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• pp.529-548
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• 2014

This article presents the unsteady aerodynamic performance of crosswind stability obtained numerically for the ATM train. Results of numerical investigations of airflow past a train under different yawing conditions are summarized. Variations of occurrence flow angle from parallel to normal with respect to the direction of forward train motion resulted in the development of different flow patterns. The numerical simulation addresses the ability to resolve the flow field around the train subjected to relatively large yaw angles with three-dimensional Reynolds-averaged Navier-Stokes equations (RANS). ${\kappa}-{\varepsilon}$ turbulence model solved on a multi-block structured grid using a finite volume method. The massively separated flow for the higher yaw angles on the leeward side of the train justifies the use of RANS, where the results show good agreement with verification results. A method of solution is presented that can predict all aerodynamic coefficients and the wind characteristic curve at variety of angles at different speed.

• 한국해양공학회지
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• 제16권6호
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• pp.25-31
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• 2002

A system identification method is introduced to increase the prediction accuracy of a ship's maneuverability in PMM test, analysis. To improve the accuracy of linear hydrodynamic coefficients, the analysis techniques of pure sway and yaw tests are developed, and confirmed. In the analysis of sway tests, accuracy to linear hydrodynamic coefficients depends on the frequency of sway motion. To obtain nonlinear hydrodynamic coefficients for large drift angles, a combined yaw test is introduced. Using this system identification method, runs of PMM test can be reduced while retaining sufficient accuracy, compared to the Fourier integration method. Through the comparisons with sea trial results and the Fourier integration method, the accuracy and efficiency of the newly proposed system identification method, based on least square method, has been validated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.156.5-156
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• 2001

Stabilized tracking platform in a missile consisting of a flat planar antenna, pitch/yaw gimbals, gear trains, and current controlled DC drive motors for pitch and yaw gimbal must have a capability to track a target as an inertial sensor in the presence of missile body motion such as maneuvering and vibration. Because of this reason, tracking a target from dynamic platform requires a servo architecture that includes a outer tracking loop(position loop) and inner rate loop that stabilizes the line of sight(LOS). This paper presents a gimbaled platform model including nonlinear phenomena due to viscous and Coulomb friction based on experimental data and torque equilibrium equation, the design concept for the inner tacholoop having P controller structure ...

• 한국소음진동공학회논문집
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• 제18권5호
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• pp.524-532
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• 2008

This paper presents yaw vibration control performances of railway vehicle featuring controllable magnetorheological damper. A cylindrical type of MR damper is devised and its damping force is evaluated by considering fluid resistance and MR effect. Design parameters are determined to achieve desired damping force level. The MR damper model is then incorporated with the governing equations of motion of the railway vehicle which includes vehicle body, bogie and wheel-set. Subsequently, computer simulation of vibration control via proportional-integral-derivative(PID) controller is performed using Matlab. Various control performances are demonstrated under external excitation by creep force between wheel and rail.

• 융합신호처리학회논문지
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• 제14권1호
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• pp.21-26
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• 2013

The objective of this study was to develop a system for handwriting recognition in three dimensions (3D) to authenticate users. While previous studies have used a stylus pen for two-dimensional input on a tablet, this study uses the Wii Remote controller because it can capture 3D human motion and could therefore be more effective means of recognition. The information obtained from a Wii Remote controller included x and y coordinates, acceleration (x, y, z), angular velocity (pitch, yaw, roll), twelve input buttons, and time. The proposed system calculates distances using six features extracted after preprocessing the data. In an experiment where 15 subjects wrote "AIZU" 10 times, we obtained a 94.8% identification rate using a combination of writing velocity, the peak value of pitch, and the peak value of yaw. This suggests that this system holds promise for handwriting-based authentication in the future.

• 대한조선학회 특별논문집
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• 대한조선학회 2007년도 특별논문집
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• pp.74-78
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• 2007

In this paper, the HPMM(Horizontal Planar Motion Mechanism) test is simulated in a numerical towing tank by using a commercial CFD(Computational Fluid Dynamics) code, FLUENT. The results of calculation are compared with those of static drift test or rotating arm test calculated by CFD to verify the results simulated by CFD. Through comparing pure sway test of HPMM test with static drift test and pure yaw test of HPMM with rotating arm test, it is found that HPMM test can be simulated in the numerical towing tank.

• 대한토목학회논문집
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• 제33권2호
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• pp.595-608
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• 2013

본 연구는 항만 공진 현상을 고려한 계류선박의 동요량 산정방법을 제시하고 공진현상이 선박의 동요에 미치는 영향을 정량적으로 평가한 것이다. 공진 현상의 해석은 타원형완 경사방정식을 채용한 CGWAVE 모형을 사용하였고, 계류선박의 동요 해석은 3차원 Green 함수 모형을 사용하였다. 본 방법은 현지 계류선박의 동요량 계측 결과를 이용하여 타당성을 검증하였고, 포항신항의 최근 파랑 관측 자료와 비교하여 현지 항만의 적용성을 검토하였다. 파랑 관측 기록에서 얻어진 포항신항의 공진주기는 80분, 33분, 23분, 8분 등의 장주기 성분과 항내 슬립에서 발생한 주기 42초, 54초, 60초 등의 외중력파 성분이었으며 공진 해석 모형은 이들 공진주기를 잘 재현하였다. 본 연구에서는 포항신항의 제 8부두에 5,000톤, 10,000톤, 30,000톤의 선박이 계류되었을 때 공진 성분을 포함한 경우와 포함하지 않은 경우의 동요량을 각각 산정하여 공진 현상이 선박 동요에 미치는 영향을 검토하였다. 공진 성분을 포함한 경우는 그렇지 않은 경우에 비하여 12~400 %의 동요량 증가를 보였다. 공진 현상이 동요량에 미치는 영향은 Surge, Heave 동요는 선박이 클 수록, Roll과 Yaw 동요는 반대로 선박이 작을 수록 커짐을 알 수 있었다.

• 제어로봇시스템학회논문지
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• 제19권1호
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• pp.45-55
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• 2013

With the recent advancement of control method and battery technology, the electric vehicle have been researched to replace the conventional vehicle with electric vehicle with the view point of the environmental concerns and energy conservation. An electric vehicle which is equipped with the independent front steering system and in-wheel motors has advantage in terms of control. For example, the different torque which generated by left and right wheels directly can make yaw moment and the independent steering using outer wheel control is able to reduce the sideslip angle. Using of independent steering and driving system, the 4 wheel electric vehicle can improve a performance better than conventional vehicle. In this paper, we consider the method for improving the cornering performance of independent front steering system and in-wheel motor used electric vehicle with the compensated outer wheel angle and direct yaw moment control. Simulation results show that the method can improve the cornering performance of 4 wheel electric vehicle. We also apply the steering motor failure to steer the vehicle turned by the torque difference without steering. This paper describes an independent front steering and driving, consist of three parts; Vehicle Model, Control Algorithm for independent steering and driving and simulation. First, vehicle model is application of TruckSim software for independent front steering and 4 wheel driving. Second, control algorithm describes the reduced sideslip and direct yaw moment method in view of cornering performance. Last is simulation and verification.