• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.133-136
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• 2003

This paper presents a fuzzy control scheme for backing up control of Truck-Trailer, which is nonlinear and unstable by using TSK(Takagi-Sugeno-kang) fuzzy system. The nonlinear system of Truck-Trailer was expressed by using TSK fuzzy model, and the TSK fuzzy controller was designed from TSK fuzzy model. The usefulness of the proposed algorithm for backing up truck-trailer is certificated by the computer simulations.

• Journal of the Korean Institute of Navigation
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• v.23 no.2
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• pp.1-9
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• 1999

A trailer truck is a major equipment for transporting containers, and its driving is difficult due to two degrees of freedom which exist in the joint part between truck and trailer. Especially Backing a trailer truck to a parking home is a difficult exercise for all but the most skilled truck drivers. Normal driving instincts lead to erroneous movements. When watching a truck driver backing toward a parking home, one often observes the driver backing, going forward, backing again, going forward, etc., and finally backing to the desired position along the parking home. This paper discusses the design of the controller to control the steering of a trailer truck while only backing up to a parking home from an initial position. In this paper, we propose a backing up control system for a container trailer truck using fuzzy theory where the primitive fuzzy control rules are macroscopically designed using an expert's knowledge, and the control rules are regulated by LIBL(Linguistic Instruction Based Learning) to enable to back up successfully the trailer tuck to a parking home from arbitrary initial position. The validity of the proposed parking control system is shown by applying it to some initial positions on the simulator for container trailer truck.

• Journal of Power System Engineering
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• v.13 no.5
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• pp.40-45
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• 2009

This article deals with the transient analysis using multi-flexible body dynamics of a trailer vehicle, which is passing a bump on the flat road. In order to investigate the transient dynamic behavior of the trailer, we developed an equivalent finite element model for the trailer and a vehicle dynamic model for the truck using multi-body dynamics. The driving condition considered here is set as the trailer vehicle passes a bump on the flat road in 7km/h. And we investigate the time histories of vertical load and deflections on connecting points between the trailer and truck during the vehicle passes a bump. Due to the dynamic load resulted from the driving condition, additional stress concentrations are found in the trailer and the suspension connecting points between the trailer and rear axles along with kingpin.

• Journal of Navigation and Port Research
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• v.34 no.2
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• pp.137-144
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• 2010

In light of the growing traffic congestion problem and congestion cost, the container transport by railway has to be increased. The freight transport by railway can have decided advantages over trucks in terms of energy efficiency, emissions and cost for certain freight movements, just as transportation in the metropolitan region can have great advantages over driving truck. But the freight transport by truck should gain significant mobility benefits from a freight railway system. Thus, the DMT(Dual Mode Trailer) transport system which is coupled railway transport advantages with load transport advantages has been developed and used in the european countries. The DMT transport will therefore serve the areas required by transport organizers. The purpose of this paper is to estimate economical feasibility analysis for development of DMT transport system. Consequently, this study analyzed the characteristics of the DMT system. The horizontal load.unload system is being considered as an adoptable DMT system in consideration of the situation in Korea.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.6
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• pp.391-402
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• 2015

In this paper, we present implementation of backward movement control of truck-trailer vehicles using a fuzzy mode-based control scheme considering practical constraints and computational overhead. We propose a fuzzy feedback controller where output is predicted with the delay of a unit sampling period. Analysis and design of the proposed controller is very easy, because it is synchronized with sampling time. Stability analysis is also possible when quantization exists in the implementation of fuzzy control architectures, and we show that if the trivial solution of the fuzzy control system without quantization is asymptotically stable, then the solutions of the fuzzy control system with quantization are uniformly ultimately bounded. Experimental results using a toy truck show that the proposed control system outperforms a conventional system.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.248-251
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• 2004

Stability of truck and trailer are the most significance in Thai automotive industry. This paper presents the mathematical model of a six-degree-of-freedom semi-trailer vehicle. Search method was implemented to obtain the optimum design variables of the trailer which are the distance from the fifth wheel to the centroid of the trailer and the distance from the centroid of the trailer to the trailer axel. The objective function is to minimize the steady side slip velocity, steady-state yawing velocity and steady-state angle between the tractor and the trailer. From the calculation , the optimum distance from the fifth wheel to the centroid of the trailer and the optimum distance from the centroid of the trailer to the trailer axle are 5.50 and 3.25 meters respectively. The stability of the optimal semi-trailer vehicle was also examined in steady state. The steady side slip velocity, yawing velocity and the angle between tractor and trailer are also obtained using linearization technique under unit step disturbance of the tractor front wheel steering angle.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1080-1085
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• 2005

A hybrid control scheme is proposed for the stabilization of backward movement along simple paths for a vehicle composed of a truck and six trailers. The hybrid comprises the combination of a linear quadratic regulator (LQR) and a neurocontroller (NC) that is trained by a genetic algorithm (GA). Acting singly, either the NC or the LQR are unable to perform satisfactorily over the entire range of the operation required, but the proposed hybrid is shown to be capable of providing good overall system performance. The evaluation function of the NC in the hybrid design has been modified from the conventional type to incorporate both the squared errors and the running steps errors. The reverse movement of the trailer-truck system can be modeled as an unstable nonlinear system, with the control problem focusing on the steering angle. Achieving good backward movement is difficult because of the restraints of physical angular limitations. Due to these constraints the system is impossible to globally stabilize with standard smooth control techniques, since some initial states necessarily lead to jack-knife locks. This paper demonstrates that a hybrid of neural networks and LQR can be used effectively for the control of nonlinear dynamical systems. Results from simulated trials are reported.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2314-2316
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• 2000

In the construction of successful fuzzy models and/or controllers for nonlinear systems, identification of a good fuzzy Neural inference system is an important yet difficult problem, which is traditionally accomplished by trial and error process. In this paper, we propose a systematic identification procedure for complex multi-input single- output nonlinear systems with DNA coding method.DNA coding method is optimization algorithm based on biological DNA as are conventional genetic algothms (GAs). We also propose a new coding method for applying the DNA coding method to the identification of fuzzy Neural models. To acquire optimal TS fuzzy model with higher accuracy and economical size, we use the DNA coding method to optimize the parameters and the number of fuzzy inference system.

• 전자공학회논문지 IE
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• v.46 no.2
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• pp.33-45
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• 2009

In this paper, the implementation of the backward movement control of a truck-trailer type mobile robot using fuzzy model based control scheme considering the practical constraints, computing time-delay and quantization is presented. We propose the fuzzy feedback controller whose output is delayed with unit sampling period and predicted. The analysis and the design problem considering the computing time-delay become very easy because the proposed controller is syncronized with the sampling time. Also, the stability analysis is made when the quantization exists in the implementation of the fuzzy control architectures and it is shown that if the trivial solution of the fuzzy control system without quantization is asymptotically stable, then the solutions of the fuzzy control system with quantization are uniformly ultimately bounded. The experimental results are shown to verify the effectiveness of the proposed scheme.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.2
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• pp.64-70
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• 2018

Rollover is a major concern for vehicles with a higher center of gravity and for improving driving performance. This study investigates a tilting system to prevent rollover, which was successfully implemented for high-speed trains. It may be useful to apply the concept of the tilting system to a large truck such as a trailer. Even a small adjustment in the tilting angle can improve the driving stability during a steep turn. The equation of motion was derived from a dynamic model of the trailer with the tilting system. The balance of the centrifugal force and normal force determines the rollover critical speed for a given radius of the turn and load. To obtain a more conservative criterion, the rollover critical state was defined as the instant when any side wheel loses contact with the road. To actuate the tilting system, the optimal tilting angle must be calculated from the steering angle and the vehicle speed. Using a simplified model of a large truck, the effects of the tilting angle and load on the rollover critical speed were investigated.