• Journal of the korean Society of Automotive Engineers
• /
• v.14 no.2
• /
• pp.44-53
• /
• 1992

Automotive transmission is the principle component of vehicle driving system, which transmits the adjusted engine power. The automation of transmission arises from the annoyance of transmission operation such as the frequent stop/start of vehicle and the shifting transients. The study on the optimal shifting condition for the automation of transmission needs the investigation of shifting transients. However, the dynamic modeling theory during transient period is not well-established. In this study, the techniques of dynamic modeling for the power transmission system with Merrite-Wilson gear train are presented. To predict the shifting transients, a driving simulation program is developed, and the results of the analysis are cross-checked in the field test.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.24 no.7
• /
• pp.710-721
• /
• 2013

The noise prediction of motor driving system is one of the most important parts in EV/HEV, as the number of power electronic devices increases. This paper describes the mechanism of noise making process and proposes a simulation model of motor driving system for the prediction of the conducted noise. Theoretical calculations and model based simulations were carried out. DOD-dependent-battery parameters were extracted by AC analysis, and an inverter model including dynamic diode was used. Furthermore, 2-D EM tool was used for the motor modeling and was combined with the circuit models of battery and inverter. The simulated voltages, currents and spectrums in the motor driving system showed qualitatively meaningful results, suggesting the validness of the suggested modeling methods.

• The Journal of Korea Robotics Society
• /
• v.9 no.1
• /
• pp.67-77
• /
• 2014

An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.

• Journal of the Korean Society for Precision Engineering
• /
• v.28 no.8
• /
• pp.942-950
• /
• 2011

Automation is important in modern agricultural environment, which demands the highest level of technology. In the paper an independent four-wheel steering driving platform is developed especially for horticulture in glass house farm. Mathematical modeling of the four wheel system is carried out for smooth movement. The relationships between steering angle, the turning radius, and escape trajectory are simulated using the dynamic analysis program. Optimal driving algorithm is sought through the performance evaluation.

• Journal of the Korean Society of Industry Convergence
• /
• v.18 no.1
• /
• pp.30-36
• /
• 2015

This paper presents the theoretical development of a complete navigation problem of a nonholonomic mobile robot by using ultrasonic sensors. To solve this problem, a new method to computer a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constranits of the robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic system modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests. In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonci sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory antomation.

• Proceedings of the KIEE Conference
• /
• 1996.11a
• /
• pp.355-358
• /
• 1996

Electrical Power System (EPS) of Electric Vehicle which consists of batteries, motor and driving subsystem, has been modeled. A battery model is modeled with an electrical circuit representing a characteristics of real battery. Driving subsystem is modeled as three different level namely exact, average and functional models. Load profile includes road information, speed profile and EV mechanical parameters, which are incorporated into a reference torque in the driving subsystem model. A system model is integrated to simulate the performance of electric vehicle such as energy balance, battery status, and electrical stress of each subsystem.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.10
• /
• pp.871-880
• /
• 2000

A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.436-440
• /
• 1996

In this study, underdeveloping heavy-load driving servo control system, which are composed of controller, electro-hydraulic servo-valve, hydraulic motor, reduction gear box, turret slew bearing and turret structure, are investigated to simplify the control system. To estimate the effect of each component, modeling and simulation of linear and nonlinear system are carried out. In the first stage, to prove the reliability of performance estimation program, simulation results are compared with experimental results. In the second stage, the effect of each component of control system is evaluated and then a simplified control system is suggested.

• Journal of the Korea Society for Simulation
• /
• v.24 no.3
• /
• pp.97-105
• /
• 2015

This paper is to analyze the efficiency of power consumption in logistic systems that are based on self-driving roller conveyors by the simulation technology. The improvement of the efficiency brings advantages for reducing greenhouse gas emission and logistics costs. A self-driving roller conveyor is operated only when products are loaded on itself. Thus, the self-driving roller conveyor systems consume less electric power than continuous-driving roller conveyor systems. In this paper, we design a DEVS (Discrete-Event based System) based simulation model and construct self-driving roller and continuous-driving roller conveyor models. For the verification and validation of the designed simulation system and conveyor models, we model a corresponding logistic model for the experimental environment and compare between the model and a real system. The main objective of this paper is to describe the power consumption advantage of self-driving roller conveyor based logistic systems using a simulation method.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.8 s.227
• /
• pp.1116-1124
• /
• 2004

In these days, a vehicle simulator has been developed with a VR(Virtual Reality) system. A VR system must provide a vehicle simulator with natural interaction, sufficient immersion and realistic images. In addition, a VR system must present a driver with the realistic driving situation. To achieve these, it is important to obtain a fast and uniform rendering performance regardless of the complexity of virtual worlds. In this paper, the factors to improve the reality for the VR based vehicle simulator have been investigated. For the purpose, the modeling and the rendering methods which offer an improved performance for complex VR applications as the 3D road model have been implemented and verified. Then, we experiment on the influence of graphic and sound factors to the driver, and analyze each result for improving the reality such as the driver's viewport, the form of texture, the lateral distance of the side object, and the sound effect. These factors are evaluated on the driving system which is constructed for qualitative analysis. The research results could be used for improving the reality of the VR based vehicle simulator.