• 한국군사과학기술학회지
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• 제16권3호
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• pp.240-249
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• 2013

This paper discusses the maneuvering control algorithm based on all-wheel independent driving and steering control techniques for special purpose 6WD/WS vehicles. The maneuvering control algorithms considering superior dynamic characteristics of high power in-wheel motors and independent steering system are designed to perform driving, steering, vehicle stability, and fault tolerant control. The maneuvering controller applies sliding and optimal control theories considering optimal torque distribution and friction circle related to the vertical tire force. The fault tolerant control algorithm is applied to obtain the similar maneuverability to that of the non-faulty vehicle. The simulations using the Matlab/Simulink dynamics model and experiments using HIL simulator mounting the real controllers with the designed control algorithms prove the improved performances in terms of vehicle stability and maneuverability.

• 한국군사과학기술학회지
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• 제13권6호
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• pp.967-975
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• 2010

There have been a lot of efforts on the improvement for the ride comfort and handling stability of the combat vehicles. Especially most of vehicles for military purpose have bad inertial condition and severe operating condition such as the rough road driving, and need a high mobility in the emergency status. It is necessary to apply the controlled suspension system in order to improve the vehicle mobile stability and ride comfort ability of crews. A feasibility study is performed on the application of the semi-active suspension system with a magneto-rheological controlled shock absorber for a $6{\times}6$ combat vehicle. First, the dynamic simulation model of the vehicle including the control model for the semi-active suspension system was executed. Based on this model, a hardware-in-the-loop simulation(HILS) system which has a semi-active suspension controller hardware was constructed. After full vehicle simulations were performed in virtual proving courses with this system, the semi-active suspension system was proven to give better ride comfort and handling stability in comparison with the conventional passive suspension system.

• 한국자동차공학회논문집
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• 제21권6호
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• pp.209-217
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• 2013

This paper presents a control strategy of 4 wheel drive (4WD) vehicles. Proposed control strategy has simple structure and can easily apply to various vehicles with low cost and time. It is consist of feedforward control for traction ability, fedback control for minimizing the wheel speed difference and yaw control for lateral stability. In addition, to integrate the traction and stability control, a blending function is applied. To evaluate the feasibility of the proposed control strategy, actual vehicle experiment is conducted after deciding the tuning parameter through the simulation. The simulation is accomplished by CarSim and Matlab/Simulink and the actual vehicle test is conducted using full size Sports Utility Vehicle (SUV) equipped rear wheel based solenoid type 4WD device.

• Journal of Advanced Marine Engineering and Technology
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• 제23권6호
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• pp.731-737
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• 1999

This paper describes the path tracking control for a mobile robot which has two casters at the front and rear to keep balance and two driving wheels on the left and right sides of its body. Power wheeled steering method is adapted to control heading of the robot. It is very difficult to find appropriate feedback gains when linear regulator control scheme is adapted to path tracking con-trol of this type of robot. Therefore in this paper we propose the path tracking control algorithm using the fuzzy logic control scheme for this type of root. Simulation to prove the validity of the proposed two algorithms is performed. The results are reported as last part in this paper.

• 한국소음진동공학회논문집
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• 제19권1호
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• pp.17-23
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• 2009

This paper proposes a new type of MR(magnetorheological) fluid based suspension system and applies it to military vehicle for vibration control. The suspension system consists of gas spring and MR damper. The nonlinear behavior of spring characteristics is evaluated with respect to the wheel travel and damping force model due to viscosity and yield stress of MR fluid is derived. Subsequently, a military vehicle of 6WD is adopted for the integration of the MR suspension system and its nonlinear dynamic model is established by considering vertical, pitch and roll motion. Then, a sky-hook controller associated with semi-active actuating condition is designed to reduce the imposed vibration. In order to demonstrate the effectiveness of the proposed MR suspension system, computer simulation is undertaken showing vibration control performance such as roll angle and pitch angle evaluated under bump and random road profiles.

• 한국자동차공학회논문집
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• 제22권1호
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• pp.174-182
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• 2014

Recently, not only common types of hybrid electric vehicle (HEV) such as series or parallel but many other types of HEVs including 4WD hybrid electric vehicle have been developed and released. In this study, analysis of fuel economy and driving performance for 2WD and 4WD HEV are conducted using backward simulation based on dynamic programming. To analyze the characteristics of 4WD HEV, tire slip model based on vehicle dynamics was applied to the backward simulation program. As a result, 2WD HEV shows better fuel economy than 4WD HEV because of relatively simple configuration. However, in a severe road condition, 4WD HEV shows better driving performance that 2WD HEV had about 6% of impossible time to follow the driving cycle though the 4WD HEV had no impossible time.

• 한국산림과학회지
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• 제106권1호
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• pp.54-62
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• 2017

산림바이오매스의 효율적인 수집 및 운반을 위하여 칩하베스터를 개발하고 작업 생산성 및 비용을 분석하였다. 칩하베스터의 주요 목표제원은 속도 8 km/hr, 최대등판능력 $30^{\circ}$, 최대적재량 2,000 kg 등이고, 차체구조는 회전반경을 줄이기 위하여 차체굴절식을 채택하고, 주행장치는 6륜 구동으로 후륜은 접지력을 높이기 위하여 탠덤보기방식을 채택하였다. 개발된 칩하베스터의 주행테스트 결과, 칩 적재시 ${\pm}10%$ 경사에서 각각 6.9 km/hr, 8.1 km/hr로 나타났다. 또한, 공차시 ${\pm}10%$ 경사에서 각각 7.3 km/hr, 7.9 km/hr로 나타났다. 따라서, 주행성능은 개발목표를 달성하였다고 판단된다. 작업생산성 및 비용을 분석한 결과, 파쇄 및 운반의 작업생산성은 약 $10m^3$/일이었으며, 작업비용은 393,126원/일로 나타났다.

• Journal of Biosystems Engineering
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• 제14권2호
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• pp.67-79
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• 1989

This study was conducted to investigate the applicability of true model theory for pull prediction in a powered lugged wheel-soil system and to examine the possibility of using principles of similitude in investigating the dimensions of soil parameters pertinent to a powered lugged wheel-soil system concerning the pull prediction. The following conclusions were derived from the study; 1) The pull of prototype wheels proved to be predicted by those of the model wheels for the range of the dynamic weight tested. The pull curves of models and prototype were respectively very similar in the shape. From this basic knowledge, it was enabled to apply the similitude theory to the performance prediction of the true model. 2) A conditional equation which can be used for the prediction of pull of prototype by model test was derived as follows. $n_f=n_1^{-b}$ where $n_f$ : force scale = $w/w_m$ $n_1$ : length scale = ${\ell}/{\ell}_m$ b : exponent on the length dimension of the soil property ${\alpha}$ The range of the numerical value of b, which was determined by the least square method, was found to be -2.0~-2.6. 3) Considering a relatively wide variation of b values in the pull prediction, b is considered to be a function of many variales. Thus it was concluded that there are several soil properties which are pertinent to the powered lugged-wheel-soil system concerning the pull prediction, and these soil properties may have the different effects on the pull of model and protytype wheels, to give the different dimension on the soil parameters.

• 산학경영연구
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• 제13권
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• pp.263-273
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• 2000

벤츠(현 다임-클라이슬러)자동차회사는 새로운 공장을 미국 앨라배마 주 Vance 지역에 건설하고 이곳 공장으로부터 스포츠-레저용의 4륜 구동 M-class 자동차를 생산하고 있다. 이 벤츠공장의 생산라인은 차체형성공정, 도장공정, 그리고 엔진조립 공정으로 나누어져 있고 이들 생산라인사이에는 한 라인에서의 고장(down)이 다른 라인에 파급되지 않도록 완충라인(Buffer)이 설치되어 있다. 본 연구의 목적은 일정한 비율의 고장률을 각 생산라인에 적용시켰을 때 주어진 생산목표(270대)를 달성할 수 있는지, 만약 달성할 수 없다면 가장 문제가 되는 생산라인은 어디인지, 또 생산라인 사이에 존재하는 완충라인이 어느 정도의 완충역할을 하는지, 최적의 생산능력을 유지하기 위한 완충라인의 크기는 어느 정도인지 등, 각종 생산라인의 운영지침(operation policy)들을 시뮬레이션 기법을 이용하여 탐색한 후 병목생산시설(bottleneck)을 찾아내는 것이다. 본 연구를 위한 시뮬레이션 도구로는 ARENA를 이용했고 20일 간의 시뮬레이션 결과를 종합하여 분석하였다. 또 신뢰구간 95% 범위에서 각 생산라인의 최대 생산능력도 측정하여 실제 생산대수와의 차이를 규명할 수 있는 근거를 제공하였다.

• Journal of Biosystems Engineering
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• 제3권2호
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• pp.35-61
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• 1978

동력경운깅가 일반 경사지에서 견인주행하는 경우 견인주행성능과 주행특성을 구명하기 위하여 토양의 종류 및 상태는 일정하게 하고 지면의 기하학적 조건과 견인주행속도 및 견인하중을 변수로 하여 외부동력전달계의 시점인 좌우차륜과 토양간에 발생하는 차륜구동력 및 굴름정항과 Engine에서 구동륜까지 내부전달계를 통하여 전달된 동력의 이론치와 실험치와의 부합여부를 검정하고 부가적으로 동력경운기가 경사지기계화의 동력기로써의 가능성여부와 문제점을 찾으려한다.