• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.133-138
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• 1993

This paper presents neural network based position estimation method in slippery environment as an approach to solve one of problems which are engaged in dead reckoning method. Position estimator is composed of slip detector and linear velocity estimator. Both of them are based on the fact that dynamic characteristic of mobile robot in slippery environment is different from the case without slip. To find out the dynamic relation among driving torque, angular acceleration of driving wheel and linear acceleration of mobile robot, accelerometer is used for measuring acceleration of mobile robot and neural network is used for dynamic system identifier in slippery environment.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제48권12호
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• pp.709-714
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• 1999

This paper is focused on the adhesion control method to improve traction efficiency using the estimated adhesion for railway propulsion system. Recently, the wheel slippery is frequently occurred due to light weight of train and power increasement of traction parts. This phenomenon occurs a traction loss and a poor ride comport. Therefore, the adhesion control which is able to prevent the slippery and to control the traction on a maximum adhesion is absolutely needed. This paper introduces typical methods for adhesion control and proposes two novel adhesion methods using the estimated adhesion.

• International Journal of Automotive Technology
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• 제5권2호
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• pp.123-133
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• 2004

This paper describes a robust and fast wheel slip tracking control using a moving sliding surface technique. A traction control system (TCS) is the active safety system used to prevent the wheel slipping and thus improve acceleration performance, stability and steerability on slippery roads through the engine torque and/or brake torque control. This paper presents a wheel slip control for TCS through the engine torque control. The proposed controller can track a reference input wheel slip in a predetermined time. The design strategy investigated is based on a moving sliding surface that only contains the error between the reference input wheel slip and the actual wheel slip. The used moving sliding mode was originally designed to ensure that the states remain on a sliding surface, thereby achieving robustness and eliminating chattering. The improved robustness in driving is important due to changes, such as from dry road to wet road or vice versa which always happen in working conditions. Simulations are performed to demonstrate the effectiveness of the proposed moving sliding mode controller.

• 한국정밀공학회지
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• 제13권8호
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• pp.120-127
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• 1996

Anti-lock Brake System has been developed to reduce tendency for wheel lock and improve vehicle control during sudden braking on slippery road surfaces. This is achieved by controlling the braking pressure, avoiding wheel lock, while retaining handling and brake performance. This paper is concerned about pressurecharacteristics of hydraulic modulator. Experimental sets which is consists of hydraulic modulator, duty controller, pressure regulator, pressure senset is consuructed. System modelling and computer simulation are performed for comparison with experimental results. Brake wheel pressure are measured under various driving pulse. The result of experiment show fairly agreement with the simulation. As a result, it is known that wheel pressure is affected by duty ratio, orifice diameter through computer simulation.

• 한국자동차공학회논문집
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• 제15권5호
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• pp.180-187
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• 2007

This paper presents a mathematical vehicle model that is designed to analyze the dynamic performance and to develop various safety control systems. Wheel slip controllers for ABS is also formulated to improve the vehicle response and to increase the safety on slippery road. Validation of the model and controller is performed by comparison with a commercial software package, CarSim. The result shows that performances of developed vehicle model are in good accordance with those of the CarSim on various driving conditions. Developed ABS controller is applied to the vehicle model and CarSim model, and it achieves good control performance. ABS controller improves lateral stability as well as longitudinal one when a vehicle is in turning maneuver on slippery road. A driver model is also designed to control steer angle of the vehicle model. It also shows good performance because the vehicle tracks the desired lane very well.

• 오토저널
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• 제12권5호
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• pp.36-45
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• 1990

In this study an antilocking-brake-system was set up for the single wheel of passenger cars. The control algorithm for the system was programmed by C-language and executed by a 16bit personal computer, which took the role of an electronic control unit. The performance of the antilocking-brake-system was tested using a test rig, which was specially designed and built up for the simulation of braking on the slippery road. The test results were satisfactory. Although the simulation method of the friction characteristics between the tire and the contact surface on the test rig appeared not to be absolutely suitable, the test rig allowed the basic investigation of the influence of the antilocking brake control on the wheel slip.

• 대한기계학회논문집A
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• 제30권12호
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• pp.1551-1556
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• 2006

Two yaw motion control systems that improve a vehicle lateral stability are proposed in this study: a rear wheel steering yaw motion controller (SESP) and an enhanced rear wheel steering yaw motion controller (ESESP). A SESP controls the rear wheels, while an ESESP steers the rear wheels and front outer wheel to allow the yaw rate to track the reference yaw rate. A 15 degree-of-freedom vehicle model, simplified steering system model, and driver model are used to evaluate the proposed SESP and ESESP. A robust anti-lock braking system (ABS) controller is also designed and developed. The performance of the SESP and ESESP are evaluated under various road conditions and driving inputs. They reduce the slip angle when braking and steering inputs are applied simultaneously, thereby increasing the controllability and stability of the vehicle on slippery roads.

• 드라이브 ㆍ 컨트롤
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• 제10권3호
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• pp.1-6
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• 2013

Traction control suppresses the spinning of the driven wheel during drive away or acceleration on slippery road condition. In this study, the estimation method of brake pressure hardly measured is proposed. The estimation method of brake pressure and the brake pressure control with pulse width modulation(PWM) are verified a good performance through experiment. Also, the vehicle simulation on slippery road conditions is validated the applicability of brake pressure control for traction control. The simulation results have showed that the brake pressure can be used the control variable for traction control.

• 대한기계학회논문집A
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• 제28권8호
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• pp.1203-1211
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• 2004

A traction control systems (TCSs) composed of either a wheel slip controller or a throttle valve controller or an integrated controller of both systems are proposed in this study. To validatethe dynamic characteristics of a vehicle and TCS, a full car model that can simulate the responses of both front wheel drive (2WD) and four wheel drive (4WD) vehicle is also developed. The wheel slip controller uses a sliding mode control scheme and the throttle valve is controlled by a PID controller. The results shows that tHe brake TCS and the engine TCS achieve rapid acceleration, and reduce slip angle on slippery road. When a vehicle is cornering and accelerating maneuver with the brake or engine TCS, understeer or oversteer occur, depending on the driving conditions. The integrated TCS prevents most of these problems and improves the stability and controllability of the vehicle.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1999년도 학회창립 10주년 기념 1999년도 가을 학술발표회 논문집
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• pp.861-868
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• 1999

Drainage concrete pavement, unlike water permeable concrete pavement, is to preclude the pavement from overflowing with water, such as rain water, from infiltrating into earth by placing a border in the middle layer which makes water to flow through the surface of the border to the conduit. Drainage concrete pavement enhances car wheel resistance to slippery and wet road surface and imbibes noise caused by friction on the road. Also, by using pigment, it adds to the beauty of the environment. Drainage concrete pavement can be used for sidewalks, roadways, parking lots and expressways.