• 항공우주기술
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• 제8권2호
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• pp.122-126
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• 2009

KSLV-I은 100kg급 소형 인공위성을 지구 저궤도에 진입시키는 임무를 수행하여야 하며, 이를 위해 상단의 3축 자세제어를 위한 자세제어 시스템이 요구된다. 추력기 노즐을 통해 질소가스를 방출함으로써 발생하는 작용 반작용 모멘트를 제어모멘트로 사용하는 냉가스 추력기 자세제어 시스템을 KSLV-I 상단의 3축 자세제어 시스템으로 선정하였다. 충전 시스템의 유량 검증 및 충전 시나리오 작성을 위해 지상 충전 시스템 개발 전단계로 충전모사 시스템의 개발이 필요하다. 본 논문에서는 KSLV-I 충전 모사 시스템의 오리피스 설계, 시스템 개발, 충전 시험에 관한 것이다.

• 자동차안전학회지
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• 제9권3호
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• pp.19-23
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• 2017

This paper presents a lateral driver model with neuromuscular system to evaluate the performance of electric power steering (EPS). Output of most previously developed driver models is steering angle. However, in order to evaluate EPS system, driver model which results in steering torque output is needed. The proposed lateral driver model mainly consists of 2 parts: desired steering angle calculation and conversion of steering angle into steering torque. Desired steering angle calculation part results in steering angle to track desired yaw rate for path tracking. Conversion of steering angle into torque is consideration with neuromuscular system. The proposed driver model is investigated via actual driving data. Compared to other algorithms, the proposed algorithm shows similar pattern of steering angle with human driver. The proposed driver can be utilized to efficiently evaluate EPS system in simulation level.

• 대한기계학회논문집A
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• 제41권7호
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• pp.591-597
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• 2017

이 논문은 횡방향 안정성 및 조향성능 개선을 위한 차량 통합운동제어시스템(IDCB)의 개발에 관한 것이다. IDCB의 개발을 위하여 8자유도의 차량 모델 및 비선형 관측기를 설계하였다. 퍼지 로직 제어 방법 및 슬라이딩 모드 제어 방법을 이용하여 전륜 및 후륜의 제동압력을 독립적으로 제어하여 차량의 요 속도 및 횡방향 미끄러짐 각이 목표값을 추종하도록 하였다. 결과를 살펴보면 비선형 관측기는 만족할 만한 수준의 관측 결과를 보여주었다. 개발된 IDBC는 다양한 노면 조건 및 운전 조건에서 요속도 및 횡방향 미끄러짐 각이 목표값을 잘 추종하도록 하여 차량의 횡방향 안정성 및 조향성을 개선시키는 것을 확인할 수 있다.

• 수산해양기술연구
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• 제53권4호
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• pp.337-348
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• 2017

The tension of warp from trawler and sea-floor contact can generate tilt and wake turbulence around otter boards. Preliminary measurements of otter board tilt and 3-D flow velocity during bottom trawl operations were taken using a vector instrument to investigate the effects of wake turbulence at the trailing edge of the otter board. Tilt data (i.e., yaw, pitch, and roll) at 1 Hz and flow data (velocities in the towing, lateral, and vertical directions) at 16 Hz were analyzed to determine their periods and amplitudes using global wavelet and peak event analyses. The mean period (${\pm}standard$ deviation) of the tilt from the peak event analysis ($5{\pm}2s$) was longer or double than that of flow velocity ($3{\pm}2s$). The two periods also had a significant linear relationship. The turbulence rate of flow was 30-50% at the trailing edge and was closely related to roll deviation. The frequency of phase difference ratios (i.e., peak time differences between tilts and flow periods) was significantly different from random occurrence in two trials, possibly due to side tidal effects. However, in the other trials, flow peaks were random, as shown by the even peak times between tilts and flows. Future studies should focus on reducing tilt variation, wake turbulence, and bottom contact to stabilize otter board motion.

• 한국자동차공학회논문집
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• 제9권6호
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• pp.119-128
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• 2001

Recently safety systems for the commercial vehicle have been rapidly developed. However, we still have many problems in the vehicle stability and the braking performance. Especially, a commercial vehicle may meet a dangerous braking condition when the vehicle is lightly loaded or empty and the road is wet or slippery. To design the air brake system for commercial vehicles, since the air brake system has many design variables, there must have been intensive researches on a method how to prevent dynamic instability and how to maximize the vehicle deceleration. In this study, mathematical models about an 8$\times$4 vehicle and an air brake system including an ABS controller have been constructed for computer simulation. Also, simple examples are applied to show the usefulness of the computer program. Designers can use this simulation program for understanding the braking characteristics of 8$\times$4 commercial vehicles such as trajectory, braking distance, longitudinal deceleration, lateral deceleration, and yaw rate on various road conditions.

• 한국자동차공학회논문집
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• 제21권1호
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• pp.121-127
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• 2013

In this study, suspension geometry is controlled to improve vehicle handling performance. The toe and camber of the rear suspension is controlled independently by using a double knuckle structure designed to enhance the vehicle cornering stability. Camber and toe changes in the rear wheel during high speed turning maneuver are important factors that influence the vehicle stability. Toe in the rear outer wheel plays a dominant role in cornering. A control algorithm for the camber and the toe angle input is developed to carry out the control simulation of the vehicle such as single lane change, the steady state cornering, the double lane change and the step steering simulation. Effects of the camber and toe angle control are analyzed from the computer simulations. A double lane change simulation revealed that the suspension mechanism with variable camber angle and variable toe angle decreases the peak body slip angle and peak yaw rate, 50% and 10%, respectively.

• 한국자동차공학회논문집
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• 제24권4호
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• pp.408-415
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• 2016

The vehicle attitude and sideslip is critical information to control the vehicle to prevent from unintended motion. Many of estimation strategy use bicycle model or IMU integration, but both of them have limits on application. The main purpose of this paper is development of vehicle orientation estimator which is robust to various vehicle state and road shape. The suggested estimator use 3-axis magnetometer, yaw rate sensor and lateral acceleration sensor to estimate three Euler angles of vehicle. The estimator is composed of two individual observers: First, comparing the known magnetic field and gravity with measured value, the TRIAD algorithm calculates optimal rotational matrix when vehicle is in static or quasi-static condition. Next, merging 3-axis magnetometer with inertial sensors, the extended Kalman filter is used to estimate vehicle orientation under dynamic condition. A validation through simulation tools, Carsim and Simulink, is performed and the results show the feasibility of the suggested estimation method.

• 대한조선학회논문집
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• 제44권6호
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• pp.572-578
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• 2007

A Rigid Inflatable Boat (RIB) is now widely used for commercial and military purpose. In this paper, it is supposed that seven-meter-class RIB be used as an unmanned target ship for naval training. In order to develop many tactical maneuvering patterns of a target ship, a simple horizontal maneuvering model of a RIB is needed. Therefore, models of speed and yaw rate are constructed as the first-order differential equations based on Lewandowski#s empirical formula for steady turning circle diameter of a conventional planning hull. Some parameters in the models are determined using the results of sea trial tests. Finally, proposed models are validated through the comparison of the simulation result with the sea trial result for a specific scenario. Even though a simple model does not represent the horizontal motion of a RIB precisely, however, it can be used enough to develop tactical trajectory patterns.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2569-2571
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• 2000

In the vehicle steering system, we can consider two methods to steer the vehicle. One is a front wheel steering(FWS), the other is a four wheel steering(4WS). The four wheel steering method has been recently introduced to improve the steering performance. In this paper, we present a design of the four wheel steering controller. First, we constructed the neural network two degree of freedom PID controller to control the 4WS system. Then we compared the performance of conventional PID controller with our proposed controller in terms of yaw rate and side slip velocity. The computer simulation results show that 4WS system controlled by the proposed controller has well driving performances than the other.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.240-248
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• 2009

Modem version of supersonic jet fighter aircraft must have been guaranteed appropriate controllability and stability in HAoA(High Angle of Attack). The HAoA flight control law have two parts, one is control law of departure prevention and the other is control law of departure recovery support. The control laws of departure prevention for advanced jet trainer consist of HAoA limiter, roll command limiter and rudder fader. The control laws of departure recovery support are consist of yaw-rate limiter and MPO(Manual Pitch Override) mode. The guideline of pitch rocking using MPO mode is simple, but operating skill of pitch rocking is very difficult by the pilot with inexperience of departure situation. Therefore, automatic deep stall recovery system is necessary. The system called the "Automatic Pitch Rocker System" or APRS, provided a pilot initiated automatic maneuver capable of an aircraft recoveries in situations of deep stall, speed and altitude. This paper addresses the design and validation for APRS to recovery of an deep stall without manual pitch rocking by the pilot. Also, this system is designed to recovery of speed, attitude and altitude after deep stall recovery using ATCS (Automatic Thrust Control System) and autopilot. Finally, this system is verified by real-time pilot evaluation using HQS (Handling Quality Simulator).