• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.9 no.8
• /
• pp.1716-1721
• /
• 2005

Conventionally, 2WS is used for vehicle sleeting, which can only steering front wheel. In case of trying to high speed slalom or emergency through this kind of vehicle equipped 2WS, it may occur much of side slip angle. On the other hand, 4WS makes decreasing of side slip angle, outstandingly, so it is possible to support vehicle movement stable. And conventional ABS and TCS can only possible control the longitudinal movement of braking equipment and drive which can only availab 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 improed 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.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.6 no.2
• /
• pp.107-117
• /
• 1998

As the traffic congestion and parking problems in urban areas are increased the tall and narrow commuter vehicles have interested as a means to increase the utilization of existing freewa- ys and parking facilities. However, in hard cornering those vehicles could reduce stability against overturning compared to conventional vehicles. This tendency can be mitigated by tilting the body toward the inside of the turn. In this paper those tilting vehicles are considered in which at speed at least, the tilt angle is controlled by steering the front wheels. In other word, if the driver turns the steering wheel the tilt controller automatically steers the road wheel to tilt the body inside of the turn. Also, the dynamic tilting vehicle model with tire slip angles is constructed by adding the roll degree of freedom. Finally, through computer simulation the behaviors of the tilting vehicles are investigated.

• Journal of the Institute of Convergence Signal Processing
• /
• v.22 no.4
• /
• pp.171-178
• /
• 2021

Caravans are easily affected by external physical factors and often cause dangerous situations for passengers. Therefore, in order to secure the stability of the passenger, there is a need to develop a sway reduction device capable of preventing the sway phenomenon in advance. This paper aims to minimize the hitch angle between the tow vehicle and the caravan. Specifically, the initial instability of the caravan is detected through an IMU sensor mounted on each of the tow vehicle and the caravan, and a control value is calculated to reduce errors from the Hitch angle and Hitch yaw rate using a PID controller. Different braking torques are generated, distributed, and controlled on the left and right brakes of the caravan according to the calculated control value. It could be verified through the driving experiment that the hitch angle was decreased compared to the case where the performance of the sway reduction device was not controlled, and the transverse stability improvement rate was improved by 94.49% compared to before control.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.37 no.11
• /
• pp.1429-1436
• /
• 2013

This study presents an approach for designing a vehicle rollover prevention controller using differential game theory and multi-level programming. The rollover prevention problem can be modeled as a non-cooperative zero-sum two-player differential game. A controller as an equilibrium solution of the differential game guarantees the worst-case performance against every possible steering input. To obtain an equilibrium solution to the differential game with a small amount of computational effort, a multi-level programming approach with a relaxation procedure is used. To cope with the loss of maneuverability caused by the active suspension, an electronic stability program (ESP) is adopted. Through simulations, the proposed method is shown to be effective in obtaining an equilibrium solution of the differential game.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.15 no.6
• /
• pp.120-127
• /
• 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.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.19 no.4
• /
• pp.75-82
• /
• 2015

In this study, experimental research was carried out to evaluate steel reinforced ECC (Engineered Cementitious Composites) column, which exhibits excellent crack control property and highly ductile behavior. Ordinary portland cement and high volume fly ash were used as binding materials in the mixture proportions for the purpose of achieving a high level of multiple cracking property with the tightly controlled crack width. To compare with the cyclic behavior of steel reinforced ECC column specimen, a conventional reinforced concrete column was prepared and tested under reversed cyclic loading condition. Based on the cyclic load test, ECC column exhibited higher cyclic behavior, compared to the conventional RC column, in terms of load carrying capacity and energy dissipation capacity.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.39 no.5
• /
• pp.527-534
• /
• 2015

This paper presents an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) under lateral force constraint on AFS. The control yaw moment is calculated using a sliding mode control. The tire forces generated by ESC and AFS are determined using weighted pseudo-inverse based control allocation (WPCA) in order to generate the control yaw moment. On a low friction road, AFS is not effective when the lateral tire forces of front wheels are easily saturated. To solve problem, the lateral force of AFS is limited to its maximum and the braking of ESC is applied with WPCA. To evaluate the effectiveness of the proposed method, a simulation was performed on the vehicle simulation package, $CarSim^{(R)}$. From the simulation, it was verified that the proposed method could enhance the maneuverability and lateral stability if the lateral force of AFS exceeds its maximum.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.7
• /
• pp.599-605
• /
• 2017

For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.

• Journal of the Korean GEO-environmental Society
• /
• v.5 no.2
• /
• pp.41-49
• /
• 2004

In this study, a newly modified soil nailing technology named as the SPN (Spiral Pipe Nailing) system, is developed to self drilling method can apply to ground which is hard to keep shape of bore hole. And limit equilibrium analysis with simplified trial wedge method while length ratio and bond ratio being altered was performed to evaluate slope stability considered of tensile strength and bending stiffness. Also, using $FLAC^{2D}$ program, superiority of the SPN system was compared to the GSN (General Soil Nailing) system about an example section. And effects of various factors related to the design of the SPN system, such as the type of drilling method and the bit, are examined throughout a series of the displacement-controlled field pull-out tests. As a result, the SPN system is better than the GSN system in slope stability because of having larger bending stiffness, tensile strength and unit skin friction. And results of simplified trial wedge method are similar to results of TALREN 97 program, commercial limit equilibrium analysis computer software, about an example section. Consequently, it will find out of that the SPN system reduce displacements and settlements in down excavation process as well as to increase the global stability.

• Journal of Korean Society of Steel Construction
• /
• v.25 no.3
• /
• pp.299-305
• /
• 2013

This paper presents the experimental results of behacior of slender square hollow section columns strengthened with carbon fiber reinforced polymers (CFRP) sheets subjected to concentrated axial loading. Three long specimens were fabricated and one stub column were fabricated. The main parameters were the number of CFRP layers. From the tests, it was observed that global buckling were occurred at the center of specimen for unretrofitting slender column. However, CFRP retrofitting could prevent the global buckling of slender column. Maximum increase of 22% was also achieved in axial-load capacity with three longitudinal layered CFRP applied on four sides of steel tubes.