• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.2
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• pp.15-20
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• 2012

This study is to propose and develop an integrated dynamics control system to improve and enhance the lateral stability and handling performance. To achieve this target, we integrate an AFS and a 4WS systems with a fuzzy logic controller. The IDCS determines active additional steering angle of front wheel and controls the steering angle of rear wheel. The results show that the IDCS improves the lateral stability and controllability on dry asphalt and snow paved road when double lane change and step steering inputs are applied. Yaw rate of the IDCS vehicle tracks reference yaw rate very well and body slip angle is reduced about by 50%. Response time of the IDCS vehicle is also decreased.

• International Journal of Automotive Technology
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• v.8 no.3
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• pp.299-308
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• 2007

This study proposes a two-layer hierarchical control system that integrates active front wheel steering and four wheel braking torque control to improve vehicle handling performance and stability. The first layer is a robust model matching controller (R-MMC) based on linear matrix inequalities (LMIs), which optimizes an active front steering angle compensation and a desired yaw moment control, and calculates reference wheel slip for the target wheel according to the desired yaw moment. The second layer is a moving sliding mode controller (MSMC) that can track the reference wheel slip in a predetermined time by commanding proper braking torque on the target wheel to achieve the desired yaw moment. Since vehicle sideslip angle measurement is difficult to achieve in practice, a sliding mode observer (SMO) that requires only vehicle yaw rate as the measured input is also developed in this study. The performance and robustness of the SMO and the integrated control system are demonstrated through comprehensive computer simulations. Simulation results reveal the satisfactory tracking ability of the SMO, and the superior improved vehicle handling performance, stability and robustness of the integrated control vehicle.

• International Journal of Automotive Technology
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• v.8 no.1
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• pp.49-57
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• 2007

This paper proposes a traction control system (TCS) that uses a sliding mode wheel slip controller and a PID throttle valve controller. In addition, a yaw motion controller (YMC) is also developed to improve lateral stability using a PID rear wheel steering angle controller. The dynamics of a vehicle and characteristics of the controllers are validated using a proposed full-car model. A driver model is also designed to steer the vehicle during maneuvers on a split ${\mu}$ road and double lane change maneuver. The simulation results show that the proposed full-car model is sufficient to predict vehicle responses accurately. The developed TCS provides improved acceleration performances on uniform slippery roads and split ${\mu}$ roads. When the vehicle is cornering and accelerating with the brake or engine TCS, understeer occurs. An integrated TCS eliminates these problems. The YMC with the integrated TCS improved the lateral stability and controllability of the vehicle.

• Journal of the Society of Naval Architects of Korea
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• v.45 no.5
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• pp.523-529
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• 2008

The course stability performance for tankers is evaluated by computational fluid dynamics. In the present work, a Reynolds averaged Navier-Stokes (RANS) code is applied to a maneuvering problem covering the pure drift and yaw motions. The purposes of this study are to evaluate the hydrodynamic force in the bare hull (AFRAMAX) in pure drift and yaw motion and to provide information about the trends in the forces and moments when the rudder angles are varied. The flow simulation is performed by FLUENT. The CFD code is examined to find the optimistic computational condition such as size of grid, turbulence model and initial condition. The hydrodynamic derivatives in drift and pure yaw motion are estimated by the numerical simulation, and then the stability levers are calculated. It is confirmed that the computations show the superiority and inferiority of course stability performance according to the hull forms. Finally, the CFD code is applied to the estimation of the rudder forces when the rudder angles are varied. The propeller effect expressed by the body force distribution is also included.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.255-270
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• 2006

In this paper, a design method of nonlinear autopilot for ship-to-ship missiles is proposed. Ship-to-ship missiles have strongly coupled dynamics through roll, yaw, and pitch channel in comparison with general STT type missiles. Thus it becomes difficult to employ previous control design method directly since we should find three different solutions for each control fin deflection and should verify the stability for more complicated dynamics. In this study, we first propose a control loop structure for roll, yaw, and pitch autopilot which can determine the required angles of all three control fins. For yaw and pitch autopilot design, missile model is reduced to a minimum phase model by applying a singular perturbation like technique to the yaw and pitch dynamics. Based on this model, a multi-input multi-output (MIMO) nonlinear autopilot is designed. And the stability is analyzed considering roll influences on dynamic couplings of yaw and pitch channel as well as the aerodynamic couplings. Some additional issues on the autopilot implementation for these coupled missile dynamics are discussed. Lastly, 6-DOF (degree of freedom) numerical simulation results are presented to verify the proposed method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.12
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• pp.997-1003
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• 2016

This paper presents an application of adaptive algorithms for yaw moment distribution with electronic stability control (ESC) and active rear steering (ARS) in integrated chassis control (ICC). Integrated chassis control consists of upper- and lower-level controllers. In the upper-level controller, the control yaw moment is computed with sliding mode control required to stabilize a vehicle. In the lower-level controller, adaptive algorithms are applied to determine the required brake pressure of ESC and the necessary steering angle of ARS, in order to generate the control yaw moment. Simulation is performed using the vehicle simulation package CarSim to validate the proposed method.

• Wind and Structures
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• v.10 no.4
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• pp.367-382
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• 2007

A nonlinear numerical method was developed to assess the stability of suspension bridge catwalks under a wind load. A section model wind tunnel test was used to obtain a catwalk's aerostatic coefficients, from which the displacement-dependent wind loads were subsequently derived. The stability of a suspension bridge catwalk was analyzed on the basis of the geometric nonlinear behavior of the structure. In addition, a full model test was conducted on the catwalk, which spanned 960 m. A comparison of the displacement values between the test and the numerical simulation shows that a numerical method based on a section model test can be used to effectively and accurately evaluate the stability of a catwalk. A case study features the stability of the catwalk of the Runyang Yangtze suspension bridge, the main span of which is 1490 m. Wind can generally attack the structure from any direction. Whenever the wind comes at a yaw angle, there are six wind load components that act on the catwalk. If the yaw angle is equal to zero, the wind is normal to the catwalk (called normal wind) and the six load components are reduced to three components. Three aerostatic coefficients of the catwalk can be obtained through a section model test with traditional test equipment. However, six aerostatic coefficients of the catwalk must be acquired with the aid of special section model test equipment. A nonlinear numerical method was used study the stability of a catwalk under a yaw wind, while taking into account the six components of the displacement-dependent wind load and the geometric nonlinearity of the catwalk. The results show that when wind attacks with a slight yaw angle, the critical velocity that induces static instability of the catwalk may be lower than the critical velocity of normal wind. However, as the yaw angle of the wind becomes larger, the critical velocity increases. In the atmospheric boundary layer, the wind is turbulent and the velocity history is a random time history. The effects of turbulent wind on the stability of a catwalk are also assessed. The wind velocity fields are regarded as stationary Gaussian stochastic processes, which can be simulated by a spectral representation method. A nonlinear finite-element model set forepart and the Newmark integration method was used to calculate the wind-induced buffeting responses. The results confirm that the turbulent character of wind has little influence on the stability of the catwalk.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.04a
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• pp.206-211
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• 2011

In this paper, a control algorithm for the improvement of yaw and velocity stability of electrical vehicle with two or four in-wheel motors is proposed. The vehicle is modeled with independently operative in-wheel motor wheels. Different frictions on the wheels are regarded as disturbances, which causes driving instability. In this situation the proposed algorithm enables stabilizing the yaw motion and velocity of vehicle simultaneously. The proposed PID controller is composed with two techniques, which enhance the disturbance reject and point tracking performances. One is nonlinear gain function and the other one is improved integral controller operating as time based weight function. Simulation is conducted to reveal its efficient performance.

• Journal of the Society of Naval Architects of Korea
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• v.50 no.1
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• pp.8-13
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• 2013

Excessive yaw motion of a turret moored vessel was examined in this paper. The vessel was moored by an internal turret and catenary mooring lines. The experiments were conducted in regular waves. Turret moored vessel can oscillate from side to side or move to one particular direction, and eventually exhibit large yaw motion. The results showed that the excessive yaw occured for specific condition, ratio of wave lengths and vessel length. It was found that turret moored floating vessel was unstable for regular wave period from 14 to 18 sec and excessive yaw occurred to maximum 50 deg. The time series, trajectory, phase plot and qualitative analysis are performed. The analysis showed that the results of experiments agreed with the that of analytic method and the excessive yaw could be predicted by the stability analysis.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.1
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• pp.83-89
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• 2005

This paper presents vehicle stability control algorithm based on 3-DOF vehicle model. The brake control inputs have been directly derived from the sliding control law based on a three degree of freedom plane vehicle model with differential braking. The simulation has performed using a full nonlinear 3-dimensional vehicle model and the performance of the controller has been compared to that of a direct yaw moment controller. Simulation results show that the proposed controller can provide a vehicle with better performance than conventional controller with respect to brake actuation without compromising stability at critical driving conditions.