• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.4 s.23
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• pp.5-13
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• 2005

The impact of a long-rod penetrator into oblique plates with combined obliquity and yaw is investigated. The study was done using a newly developed three dimensional dynamic and impact analysis code, which uses the explicit finite element method. Through the comparison of simulation result with experimental result and other code's result, the adaptability and accuracy of the developed code is evaluated under the complex situation in which yaw angle and oblique angle exist simultaneously. As a result of comparison, it has found that deformed shape, residual length and velocity, rotational velocity of long-rod show good agreement with experimental data. Through this study, the applicability and accuracy of the code as a metallic armour system design tool is verified.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.6
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.4
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• pp.361-370
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• 1992

A controller of the hovering VTOL aircraft with four fan is constructed by SRFIMF(State Rate Feedback Implicit Model-Following)theory, in which feedback state are angle acceleration, angle velocity and angle position of the aircraft during hover With yaw control of the system, characteristics of the hovering aircraft can be analyzed by changing states feedback gain and sponse provides robust stable hovering system.

• Journal of the Korea Institute of Military Science and Technology
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• v.9 no.1 s.24
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• pp.127-134
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• 2006

The protection capability against an enhanced long rod(L/D=30) with yaw is investigated numerically and compared with that of shorter one(L/D=15). In addition details of interactions between yawed long rods and oblique plate velocity are examined. Through the simulation results, we find that dual flying plates system is more effective with longer rod due to the elongated disturbance. The protection performance is more effective for the penetrator with $+6^{\circ}$ of yaw angle than that with a yaw angle of $-6^{\circ}$.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.261-268
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• 2013

In this paper, we propose the algorithm that improves the linearity of the walking assistant robot on lateral slopes. The walking assistant robot goes out of the course due to the rotational moment which is caused by the weight of the robot and the slope. To compensate this, we give the weight to each driving axle after comparing the real rotational angular velocity with the target rotational angular velocity which is entered by an user. The results of applying the algorithm to the real walking assistant robot show that the yaw axis deviation of the robot without the algorithm diverges, but the yaw axis deviation of the robot with the algorithm lies within 20cm, which can be recognized as stable. In addition, the changing rate of the course deviation is stabilized and shows no more course deviation, after moving 300cm.

• Journal of Mechanical Science and Technology
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• v.19 no.8
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• pp.1632-1648
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• 2005

The effects of Reynolds number on the non-nulling calibration of a typical cone-type five-hole probe have been investigated for the representative Reynolds numbers in turbomachinery. The pitch and yaw angles are changed from - 35 degrees to 35 degrees with an angle interval of 5 degrees at six probe Reynolds numbers in range between $6.60{\times}10^3\;and\;3.17{\times}10^4$. The result shows that not only each calibration coefficient itself but also its Reynolds number dependency is affected significantly by the pitch and yaw angles. The Reynolds-number effects on the pitch- and yaw-angle coefficients are noticeable when the absolute values of the pitch and yaw angles are smaller than 20 degrees. The static-pressure coefficient is sensitive to the Reynolds number nearly all over the pitch- and yaw-angle range. The Reynolds-number effect on the total-pressure coefficient is found remarkable when the absolute values of the pitch and yaw angles are larger than 20 degrees. Through a typical non-nulling reduction procedure, actual reduced values of the pitch and yaw angles, static and total pressures, and velocity magnitude at each Reynolds number are obtained by employing the calibration coefficients at the highest Reynolds number ($Re=3.17{\times}10^4$) as input reference calibration data. As a result, it is found that each reduced value has its own unique trend depending on the pitch and yaw angles. Its general tendency is related closely to the variation of the corresponding calibration coefficient with the Reynolds number. Among the reduced values, the reduced total pressure suffers the most considerable deviation from the measured one and its dependency upon the pitch and yaw angles is most noticeable. In this study, the root-mean-square data as well as the upper and lower bounds of the reduced values are reported as a function of the Reynolds number. These data would be very useful in the estimation of the Reynolds-number effects on the non-nulling calibration.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1130-1136
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• 2009

A new control algorithm for the yaw motion control of a unicycle robot has been proposed in this paper. With the increase of life quality, there are various transportation systems such as segway and unicycle robot which provide not only transportation but also amusement. In most of the unicycle robots share the same technology in that the directions of roll and pitch are controlled by the balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However, one disadvantage of this technology is that it cannot provide the capability to the robots to avoid obstacles in their path way. This research focuses to provide the yawing function to the unicycle robot and to control the yaw motion to avoid the obstacles as desired. For the control of yawing motion, the yaw angle is adjusted to the inertia generated by the velocity and torque of a yawing motor which is installed in the center axes of the unicycle robot to keep the lateral control simple. Through the real experiments, the effective and robustness of the yawing control algorithm has been demonstrated.

• Structural Engineering and Mechanics
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• v.56 no.6
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• pp.1021-1040
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• 2015

An effective method to calculate aerodynamic loads and aeroelastic responses of large wind turbine tower-blade coupled structures in yaw condition is proposed. By a case study on a 5 MW large wind turbine, the finite element model of the wind turbine tower-blade coupled structure is established to obtain the modal information. The harmonic superposition method and modified blade-element momentum theory are used to calculate aerodynamic loads in yaw condition, in which the wind shear, tower shadow, tower-blade modal and aerodynamic interactions, and rotational effects are fully taken into account. The mode superposition method is used to calculate kinetic equation of wind turbine tower-blade coupled structure in time domain. The induced velocity and dynamic loads are updated through iterative loop, and the aeroelastic responses of large wind turbine tower-blade coupled system are then obtained. For completeness, the yaw effect and aeroelastic effect on aerodynamic loads and wind-induced responses are discussed in detail based on the calculating results.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.8
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• pp.112-119
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• 2004

This paper develops a computer model of a cabover type large truck for estimating the effects of the mounted method of frame on handling performance. The computer model considers two mounted methods of frame; flange mounted and web mounted. Frame is modeled by finite elements using MSC/NASTRAN in order to consider the flexibility of frame. The reliability of the developed computer model is verified by comparing the actual vehicle test results with the simulation results. The actual vehicle test is performed in a double lane change course, and lateral acceleration, yaw rate, and roll angle are measured. To estimate the effects of the mounted method of frame on handling performance, simulations are performed with the flange mounted and web mounted frame. Simulation results show that the web mounted frame＇s variations of roll angle, lateral acceleration, and yaw rate are larger than the flange mounted frame＇s variations, especially in the high test velocity and the second part of the double lane course. Also, simulation results show that the web mounted frame＇s tendencies of roll angle, lateral acceleration, and yaw rate advance the flange mounted frame＇s tendencies, especially in the high test velocity and the second part of the double lane course.

• Journal of Power Electronics
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• v.13 no.4
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• pp.536-545
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• 2013

In this study, an integrated motor control algorithm for an in-wheel electric vehicle is suggested. It consists of slip control that controls the in-wheel motor torque using the road friction coefficient and slip ratio; yaw rate control that controls the in-wheel motor torque according to the road friction coefficient and the yaw rate error; and velocity control that controls the vehicle velocity by a weight factor based on the road friction coefficient and the yaw rate error. A co-simulator was developed, which combined the vehicle performance simulator based on MATLAB/Simulink and the vehicle model of CarSim. Based on the co-simulator, a human-in-the-loop simulation environment was constructed, in which a driver can directly control the steering wheel, the accelerator pedal, and the brake pedal in real time. The performance of the integrated motor control algorithm for the in-wheel electric vehicle was evaluated through human-in-the-loop simulations.