• 제어로봇시스템학회:학술대회논문집
• /
• 1999.10a
• /
• pp.181-184
• /
• 1999

Leading vehicle states are useful and essential elements in adaptive cruise control (ACC) system, collision warning (CW) and collision avoidance (CA) system, and automated highway system (AHS). There are many approaches in ACC using Kalman filter. Mostly only distance to leading vehicle and velocity difference are estimated and used for the above systems. Applications in road vehicle in curved road need to obtain more informations such as yaw angle, steering angle which can be estimated using vision system. Since vision system is not robust to environment change, we used Kalman filter to estimate distance, velocity, yaw angle, and steering angle. Application to active tracking of target vehicle is shown.

• Journal of the Korean Institute of Navigation
• /
• v.18 no.4
• /
• pp.11-21
• /
• 1994

Final aim of this paper is a study on simulation of automatic steering of a ship in random seas. In order to achieve this aim, we need excitation due to random seas. The excitation may be estimated from energy spectrum of irregular waves and response functions of manoeuvring motion of a ship in regular waves. This paper deals with response functions of manoeuvring motion of a ship in regular waves. We discussed New Strip Method(NSM) of sway-yaw-roll coupled motions in regular waves. NSM is defined in space axes system and that has been used to predict seakeeping performance of a ship in waves. But ship manoeuvring is defined in body fixed axes system. So we cannot use NSM theory itself in predicting manoeuvring performance of a ship in waves. We introduced relationship between space axes system and body fixed axes system. And we developed modified NSM which was defined in body fixed axes system and was able to be used in manoeuvring motion of a ship in waves. We calculated sway and yaw response functions of manoeuvring motion of a bulk carrier in regular waves.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.21 no.5
• /
• pp.22-27
• /
• 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.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.51 no.1
• /
• pp.61-70
• /
• 2015

In an attempt to improve the maneuvering character of hull form renovated tuna purse seiner. A renovation was carried out on the 3 tuna purse seiner fishing vessel. To grasp the progress of maneuvering and resistance on ship B (730 ton class), new bulbous bow was only attached. The ship A (740 ton class) and C (600 ton class) were modified for new bulbous bow, enlarged slipway and rudder. And then the zigzag and the turning test were carried out. According to the turning test, the advance and the tactical diameter were improved very much for the modified ship. The sea trial was carried out for the original and modified ship A. It is showed that the results of sea trial corresponded with that of the tank test on the whole. In the result of the zigzag test on ship B, the turning ability was improved very much, but the yaw checking ability was deteriorated in just some degree. In the result of the zigzag test on ship C, the turning ability and yaw checking ability were remarkably improved. Ship C was greatly improved among the three ships for the maneuvering character of modified hull form.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.23 no.5
• /
• pp.478-485
• /
• 2015

Availability of the climbing angle information is crucial for the intelligent vehicle system. However, the climbing angle information can't be measured with the sensor mounted on the vehicle. In this paper, climbing angle estimation system is proposed. First, longitudinal acceleration obtained from gyro-sensor is compared with the actual longitudinal acceleration of the vehicle. If the vehicle is in yawing motion, actual longitudinal acceleration can't be approximated from time derivative of wheel speed, because lateral velocity and yaw rate affect actual longitudinal acceleration. Wheel speed and yaw rate can be obtained from the sensors mounted on the vehicle, but lateral velocity can't be measured from the sensor. Therefore, lateral velocity is estimated using unknown input observer with nonlinear tire model. Simulation results show that the compensated results using lateral velocity and yaw rate show better performance than uncompensated results.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.26 no.2
• /
• pp.329-339
• /
• 2002

In ship operation the consequency of roll motions can seriously degrade the performance of mechanical and personnel effectiveness. So many studies for the roll stabilization control system design have been performed and very good results have been achieved. In many studies, the stabilizing fins are used. Recently rudders, which have been extensively modified, have been used to exclusively to stabilize the roll. This paper examines the two-degree-of-freedom servosystem design technique to synthesize the yaw control system which achieves the course keeping object of the ship and the H$_{\infty}$ control approach to suppress the roll motion, respectively.

• 한국신재생에너지학회:학술대회논문집
• /
• 2009.06a
• /
• pp.495-499
• /
• 2009

본 논문에서는 상호역회전 풍력발전기와 New Yaw System 실증시험에 대하여 제시한다. 상호역회전 풍력발전기는 공기의 유동을 가진 운동에너지의 공기역학적(aerodynamic) 특성을 이용하여 동일한 바람방향에 대해 상호 반대방향으로 회전하는 Front Blade와 Rear Blade를, Generator의 Rotor와 Stator에 각각 결합 형성한 것으로, Generator와 Dual Blade의 회전력이 원심력이 아닌 구심력으로 변환되어 무게중심이 균형을 이루게 한다. 이렇게 변환된 구심력은 회전구동부분의 편마모 현상, 소음발생 현상 및 불균형 톨크 발생 현상 감소효과가 공히 구현되도록 하여 풍력발전기의 구조적 안정성 및 발전효율 증대효과를 얻을 수 있도록 한 기술이다.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.5
• /
• pp.414-421
• /
• 2007

This paper presents a engine/brake integrated VDC(Vehicle Dynamic Control) system using neural network algorithm methods for wheel slip and yaw rate control. For stable performance of vehicle, not only is the lateral motion control(wheel slip control) important but the yaw motion control of the vehicle is crucial. The proposed NNPI(Neural Network Proportional-Integral) controller operates at throttle angle to improve the performance of wheel slip. Also, the suggested NNPID controller performs at brake system to improve steering performance. The proposed controller consists of multi-hidden layer neural network structure and PID control strategy for self-learning of gain scheduling. Computer Simulation have been performed to verify the proposed neural network based control scheme of 17 dof vehicle dynamic model which is implemented in MATLAB Simulink.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.12 no.6
• /
• pp.199-206
• /
• 2012

Attempt to use as a marker of natural objects directly in the real world, but there is a way to use the accelerometer of the smartphone, to convert the Frontal-View virtual, because it asks only the pitch of the camera, from the side there is a drawback that can not be converted to images. The proposed algorithm, to obtain the rotation matrix of axis 3 pitch, roll, yaw, we set the reference point of the yaw of the target image. Then, to compensate for the rotation matrix to determine Myon'inji any floor, wall, the ceiling of the target image. Finally, to obtain the homography matrix for obtaining the Frontal-View to account for the difference between the gyro sensor coordinate system and image coordinate system, so we can get the Frontal-View from the captured images through the projection transformation was designed. Was tested to convert Frontal-View the picture was taken in an environment smartphone environment surrounding floor, walls and ceiling in order to evaluate the conversion program Frontal-View has been implemented, in this paper, design and The conversion algorithm implementation, it was confirmed that to convert a regular basis Frontal-View footage taken from multiple angles.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.10 no.2
• /
• pp.392-397
• /
• 2006

This paper proposed yaw moment control scheme using braking and active rear wheel steering for improving driving stability especially in high speed driving. Its characteristics the unified chassis control system of two equipment that 4WS(4 Wheel Steering) and ESP(Electronic Stability Program). in this study the performance of the vehicle was compared each equipment. And conventional ABS and TCS can only possible to control the longitudinal movement of braking equipment and drive which can only available to control of longitudinal direction. There after new braking system ESP was developed, which controls both of longitudinal and lateral, with adding of the function of controlling Active Yaw Moment. On this paper, we show about not only designing of improved braking and steering system through establishing of the integrated control system design of 4WS and ESP but also designing of the system contribute to precautious for advanced vehicle stability problem.