• 대한전기학회논문지
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• 제39권1호
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• pp.92-106
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• 1990

Active compliance is often used in the control of robot manipulators for the implementation of complex tasks such as assembly, multi-finger fine motion, legged-vehicle adaptive control,etc. This technique balances the interactive force between the manipulator tip and its working environment with its position and velocity errors to achieve the operation of a damped spring. This paper investigates the effecft of passive compliance on system stability with regard to force feedback implementation for actively compliant motion. Usually it is understood that accurate position control require a stiff system. However, theoretical examination of control experiments on a legged suspension vehicle suggests that, if the control includes discrete-time force feedback, some passive compliance is necessssary at the legs of the vehicle for system stability. This can be an important factor to bl considered in manipulator design and control. A theoretical analysis, numerical simulation, and experimental result, confirming the above conclusion, are introduced in this paper.

• 한국정밀공학회지
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• 제21권6호
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• pp.84-93
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• 2004

This study carries out the performance improvement and simplification of hydraulic modulator that plays an important role in vehicle stability control systems. The mathematical models for each component of a modulator, such as pump, wheel cylinder, check and solenoid valve, accumulator, damper are derived in detail. All the mathematical models are combined to form a modulator system and implemented through a computer program, which can be controlled by a user friendly GUI. To verity the simulation, comparison between simulation and experiments has been made. After the verification of the validity of the simulation, the effects of the design parameters of the modulator on the wheel cylinder pressure is investigated. The results show that the modulator without MPA has advantage in early time pressure rise rate, and it can be simplified.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 추계학술대회 논문집
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• pp.1622-1627
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• 2008

A suspension is a core part, determining running stability and riding quality of vehicles and its stiffness is essential parameters in the process of vehicle designing. Suspension stiffness shall be adjusted to meet requirements of running stability and curve running performance, as adding stiffness to primary suspension for running stability in high-speed running results running performance degradation in curved track. The purpose of the report lies in utilization of usable data for optimization of suspension via analyzing running performance through changing stiffness of railway vehicle suspension.

• 한국자동차공학회논문집
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• 제7권9호
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• pp.212-219
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• 1999

This paper describes the NANDO VDC (Vehicle Dynamics Control) system for the vehicle stability enhancement and consists of the control strategies , computer simulation and tests on the various road surface. This VDC system controls the dynamic vehicle motion in the emergency situation such as the final oversteer/understeer andallows the vehicle to follow the course as desired by the driver. The system is based on an active yaw control and its performance verified by the test is shown. Also the comparison between the MANDO VDC System and a competitor is carried out.

• 제어로봇시스템학회논문지
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• 제8권10호
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• pp.898-906
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• 2002

Antilock Brake System (ABS) is designed to prevent wheels from being locked-up under emergency braking of a vehicle. Therefore it improves directional stability of the vehicle, shortens stopping distance, and enhances maneuvering during braking, regardless of road conditions. Hardware In-the-Loop Simulation (HILS) is an effective tool for design Performance evaluation and test of vehicle subsystems such as ABS, active suspension, and steering systems. This paper describes a HILS model for ABS/ ASR(Acceleration Slip Regulation) system applications. A fourteen degrees-of-freedom vehicle dynamics model is simulated in an alpha-chip processor board. The proposed HILS system is tested with a basic ABS control algorithm. The design and implementation of HILS system for the ABS ECU(Electronic Control Unit) development of commercial vehicle are presented. The results show that the proposed HILS system can be used to test the performance, stability, and reliability of a vehicle under braking.

• 한국자동차공학회논문집
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• 제21권1호
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• pp.121-127
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• 2013

In this study, suspension geometry is controlled to improve vehicle handling performance. The toe and camber of the rear suspension is controlled independently by using a double knuckle structure designed to enhance the vehicle cornering stability. Camber and toe changes in the rear wheel during high speed turning maneuver are important factors that influence the vehicle stability. Toe in the rear outer wheel plays a dominant role in cornering. A control algorithm for the camber and the toe angle input is developed to carry out the control simulation of the vehicle such as single lane change, the steady state cornering, the double lane change and the step steering simulation. Effects of the camber and toe angle control are analyzed from the computer simulations. A double lane change simulation revealed that the suspension mechanism with variable camber angle and variable toe angle decreases the peak body slip angle and peak yaw rate, 50% and 10%, respectively.

• 자동차안전학회지
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• 제5권1호
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• pp.62-68
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• 2013

This paper describes development of 4 Wheel Drive (4WD) Electric Vehicle (EV) based driving control algorithm for severe driving situation such as icy road or disturbance. The proposed control algorithm consists three parts : a supervisory controller, an upper-level controller and optimal torque vectoring controller. The supervisory controller determines desired dynamics with cornering stiffness estimator using recursive least square. The upper-level controller determines longitudinal force and yaw moment using sliding mode control. The yaw moment, particularly, is calculated by integration of a side-slip angle and yaw rate for the performance and robustness benefits. The optimal torque vectoring controller determines the optimal torques each wheel using control allocation method. The numerical simulation studies have been conducted to evaluated the proposed driving control algorithm. It has been shown from simulation studies that vehicle maneuverability and lateral stability performance can be significantly improved by the proposed driving controller in severe driving situations.

• 한국전산유체공학회지
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• 제19권2호
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• pp.66-71
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• 2014

Aerodynamic design of a vehicle has very important meaning on the fuel economy, dynamic stability and the noise & vibration of a moving vehicle. In this study, the correlation of aerodynamic effect between two model vehicles moving inline on a road was studied with the basic SAE model vehicle. Drag and lift are two main physical forces acting on the vehicle and both of them directly effect on the fuel economy and driving stability of the vehicle. For the research, the distance between two vehicles is varied from 5m to 30m at the fixed vehicle speed, 100km/h and the side-wind was assumed to be zero. The main issue for this numerical research is on the understanding of the interaction forces; lift and drag between two vehicles formed inline. From the study, it was found that as the distance between two vehicles is closer, the drag force acting on both the front and rear vehicle decreases and the lift force has same trend for both vehicle. As the distance(D) is 5m, the drag of the front vehicle reduced 7.4% but 28.5% for the rear-side vehicle. As the distance is 30m, the drag of the rear vehicle is still reduced to 22% compared to the single driving.

• 한국항공우주학회지
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• 제36권8호
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• pp.728-733
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• 2008

경계요소법을 이용하여 비평면 지면 위를 움직이는 공압부양 고속 지상운송체의 비정상 공력해석을 수행하였다. 비정상 공력해석을 위하여 시간전진법과 이에 연계한 자유후류를 도입하였다. 공압부양 고속 지상운송체가 채널 내를 움직일 때, 채널에 갇힌 공기에 의해 지면효과가 증가하여 운송체의 양력계수와 피칭모멘트 계수가 더욱 증가한다. 즉, 채널과 같은 비평면 지면은 운송체의 종방향 불안정성을 증가시킨다. 반면, 채널과 같은 비평면 지면에 의한 양력상승이 운송체 탠덤날개의 왼쪽과 오른쪽에 동일하게 발생하기 때문에 채널과 같은 비평면 지면효과가 운송체의 횡방향 안정성에 미치는 영향은 크지 않다.

• Journal of Biosystems Engineering
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• 제42권4호
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• pp.235-241
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• 2017

Purpose: It is to develop an agricultural three-directional dumping vehicle that can help farmers reduce intensive labor when carrying heavy loads and for easy dumping. In addition, a novel mechanism was applied for controlling the direction of the tilting cargo box by using a single hydraulic cylinder and simple apparatus. The overturning safety was analyzed to provide safe-use ground slope region of the vehicle to be used at upland fields and orchards. Methods: The developed three-directional dumping vehicle was constructed using a cargo box, vehicle frame, driving components, lifting components, and controller. The novel mechanism of controlling the dumping direction involves the operation of two latching bars, which selectively release or collapse the connecting edge between the vehicle frame and cargo box. A multibody dynamics analysis software (RecurDynV8R5) was used to determine the safe-use ground slope area when tilting the cargo box at slopes. A computer analysis was conducted by increasing the ground slope while rotating the vehicle when the cargo box comprised loads of 300 and 500 kg and stacking heights of 40 and 80 cm, respectively. Results: The three-directional dumping vehicle was successfully manufactured, and the cargo box was tilted at $37^{\circ}$ and $35^{\circ}$ for dumping forward and sideways. The latching bars were manually and selectively collapsed with the vehicle frame to control the dumping direction. When forward dumping, the safe-use ground slope was over $20^{\circ}$ in all vehicle directions and loaded conditions. Conclusions: A three-directional dumping vehicle was developed to reduce labor-intensive work in the farming environment. The user can easily control the dumping direction by using the control panel. The vehicle was safe to be used in most of the Korean upland fields and orchards (area over 96%) for the forward dumping.