• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.113-113
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• 2000

A robust adaptive technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the vehicle dynamics of each vehicle within the platoon. The external disturbance such as wind gust and a disturbance term due to engine transmission variations and so on are considered. The state observer is used to avoid direct measurement of the relative velocity or acceleration between the controlled and leading vehicles or the controlled vehicle's acceleration. It is shown that platoon stability can be recovered in operation even if a speed dependent spacing policy is adopted, which incorporates a constant time headway in addition to the constant distance. The simulation results demonstrate excellent tracking even in the presence of disturbances.

• 자동차안전학회지
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• 제13권3호
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• pp.6-12
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• 2021

This paper presents a lateral stability control for rear wheel drive (RWD) vehicles using electronic limited slip differentials (eLSD). The proposed eLSD controller is designed to increase the understeer characteristic by transferring torque from the outside to inside wheel. The proposed algorithm is devised to improve the lateral responses at the steady state and transient cornering. In the steady state response, the proposed algorithm can extend the region of linear cornering response and can increase the maximum limit of available lateral acceleration. In the transient response, the proposed controller can reduce the yaw rate overshoot by increasing the understeer characteristic. The proposed algorithm has been investigated via computer simulations. In the simulation results, the performance of the proposed controller is compared with uncontrolled cases. The simulation results show that the proposed algorithm can improve the vehicle lateral stability and handling performance.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.227-236
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• 2005

Multibody system dynamics is based on classical mechanics and its engineering applications originating from mechanisms, gyroscopes, satellites and robots to biomechanics. Multibody system dynamics is characterized by algorithms or formalisms, respectively, ready for computer implementation. As a result simulation and animation are most convenient. Recent developments in multibody dynamics are identified as elastic or flexible systems, respectively, contact and impact problems, and actively controlled systems. Based on the history and recent activities in multibody dynamics, recursive algorithms are introduced and methods for dynamical analysis are presented. Linear and nonlinear engineering systems are analyzed by matrix methods, nonlinear dynamics approaches and simulation techniques. Applications are shown from low frequency vehicles dynamics including comfort and safety requirements to high frequency structural vibrations generating noise and sound, and from controlled limit cycles of mechanisms to periodic nonlinear oscillations of biped walkers. The fields of application are steadily increasing, in particular as multibody dynamics is considered as the basis of mechatronics.

• 한국자동차공학회논문집
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• 제9권6호
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• pp.186-194
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• 2001

To meet the challenge of testing increasingly complex automotive control systems, the real-time hardware-in-the-loop(HIL) simulation technology has been developed. In this paper, a strategy for evaluation of semiactive suspension systems using real-time HIL simulation is presented. A multibody vehicle model is adopted to simulate vehicle dynamic motions accurately. Accuracy of the vehicle simulation results is compared to that of the real vehicle field test and proven to be very accurate. The controller and stepping motor to adjust semi-active damper stage are equipped as external hardwares and connected to the real-time computer which has vehicle dynamic model. Open and closed loop test methods are used to evaluate a controlled suspension system and the system's operations are verified it is found that the proposed evaluation methods can be used well for the verification of semi-active suspension systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.314-314
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• 2000

This study deals with the analysis of the effectiveness of a safer belt in frontal crash. ATB, Articulated Total Body, program is used as a dynamics solver of the occupant model. ATB is a public code, however, the program is somewhat cumbersome to use due to lack of sufficient user interface. A preprocessor and a postprocessor are, therefore, developed for a user friendly graphic interface in Windows environment. Dialog boxes are used for an interface with GEBOD, Generator of Body Data, for human anthropometry and with ADAMS for vehicle dynamics. It is found through three test simulations that simulated results are in good agreement with those obtained by ATB. The effect of the initial slack of safety belt is investigated for frontal crash using the developed program.

• 한국시스템다이내믹스연구
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• 제14권4호
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• pp.37-62
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• 2013

The purpose of this paper is to find out some clues about effectiveness and implementing timing of the control measures against Foot-and-Mouth Disease (FMD) in Korea. To do that, the case of FMD, which broke out during November 2010 in Korea, is examined and constructed as a system dynamics simulation model. The implications of simulation result are as follows. First of all, it is most effective measure to prevent the movement of vehicle from infected farmhouse to other noninfected farmhouses, which are located far away, in the early stage of FMD diffusion. Secondly, earlier vaccination can be adopted as a reliable means to control the epidemic when FMD spreads widely. Finally, reducing the time to vaccinate the whole noninfected livestock is a little help to restrain the additional infections of FMD.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 춘계학술대회논문집
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• pp.115-119
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• 2007

In this paper, practical problems will be covered in applying preview control to real tracked vehicle systems. Previous researches about the preview control assume that the vehicle speed is constant and the actuators have full frequency bandwidth. However, in order to apply it to real systems, those should be taken into account. Therefore this paper show the algorithm to apply the preview control to speed changing vehicles and performance variation according to a restricted frequency bandwidth.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.112-112
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• 2000

The aim of this paper is to design a two degree-of-freedom H$_{\infty}$ controller for lateral control of the vehicle. The object of this controller is to track the centerline of the reference lane. The controller is splited into two parts, feedback and prefilter. The feedback part is for both robust stability and disturbance attenuation, while the prefilter is for improving the robust tracking properties of closed loop system. This paper is consist of preface, background theory, dynamics of vehicle, controller design and computer simulation.ter simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.334-337
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• 1996

This is a paper intended for initial stage of vehicle modeling and design. The needs to determine a variety of vehicle suspension parameters required for initial design has been difficult and time-consuming task. In order to facilitate a concise and efficient presentation of initial vehicle design procedure, this paper uses a mathematical model and physical geometry. Vehicle model consists of dimensions, inertias and mechanical constants. These vehicle model parameters divided into several categories : basic parameters, coefficients and constants, design specification, spring and damper, bush stiffness, stabilizer bar, suspension geometry, tire, and vehicle weights of various design condition. This paper uses a vehicle design fundamental (VDF) program running under Windows 95 graphical interface. The features of VDF will be briefly outlined in this paper.

• 한국자동차공학회논문집
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• 제10권1호
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• pp.195-202
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• 2002

By using modeling and simulation. today's design engineers are simultaneously reducing time to market and decreasing the cost of development, while increasing the quality and reliability of their products. A driving simulator is the best example of this method and allows virtual designs of control systems, electronic systems, mechanical systems and hydraulic system of a vehicle to be evaluated before costly prototyping. The objective of this Paper is to develop the virtual Proving: ground using a driving simulator and to show its capabilities of an automotive system development tool. For this purpose, including a real-time vehicle dynamics analysis system, the PC-based driving simulator and the virtual proving ground are developed by using VR(Virtual Reality) techniques. Also ABS HIL(Hardware-In-the-Loop ) simulation is performed successfully.