• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.5
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• pp.581-587
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• 2016

Braking is a basic and an important safety feature for all vehicles, and the final braking performance of a vehicle is determined by the vehicle's ABS performance and tire performance. However, the combination of excellent ABS and tires will not always ensure good braking performance. This is due to the fact that tire performance has non-linearity and uncertainty in predicting the repeated increase and decrease of wheel slip when activating the ABS, thus increasing the uncertainty of tire performance prediction. Furthermore, existing studies predicted braking performance after using an ABS that used a wheel slip control as a controller, which was different from an actual vehicle's ABS that controlled angular acceleration, therefore causing a decrease in the prediction accuracy of the braking performance. This paper reverse-designed the ABS that controlled angular acceleration based on the information on brake pressure, etc., which were obtained from vehicle tests, and established a braking performance prediction analysis model by combining a multi-body dynamics(MBD) vehicle model and a magic formula(MF) tire model. The established analysis model was verified after comparing it with the results of the braking tests of an actual vehicle. Using this analysis model, this study analyzed the braking effect by vehicle factor, and finally designed a tire that had optimized braking performance. As a result of this study, it was possible to design the MF tire model whose braking performance improved by 9.2 %.

• Journal of Mechanical Science and Technology
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• v.19 no.4
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• pp.985-992
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• 2005

Vehicle Stability Control (VSC) system prevents vehicle from spinning or drifting out mainly by braking intervention. Although a control threshold of conventional VSC is designed by vehicle characteristics and centered on average drivers, it can be a redundancy to expert drivers in critical driving conditions. In this study, a manual adaptation of VSC is investigated by changing the control threshold. A control threshold can be determined by phase plane analysis of side slip angle and angular velocity which is established with various vehicle speeds and steering angles. Since vehicle side slip angle is impossible to be obtained by commercially available sensors, a side slip angle is designed and evaluated with test results. By using the estimated value, phase plane analysis is applied to determine control threshold. To evaluate an effect of control threshold, we applied a 23-DOF vehicle nonlinear model with a vehicle planar motion model based sliding controller. Controller gains are tuned as the control threshold changed. A VSC with various control thresholds makes VSC more flexible with respect to individual driver characteristics.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.6
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• pp.1-8
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• 2007

Minimizing the cylinder wear and the consumption rate of cylinder oil in a large two-stroke marine diesel engine is of great economic importance. In Korea, authors first developed a motor-driven cylinder lubricator for a Wartsila Switzerland large two-stroke diesel engine. The characteristic of the developed product is that can control automatically the oil feed rate with a load fluctuation by the motor drive and the offset cam. For manufacturing the reliable and useful products, however, it is necessary to investigate further characteristics and to improve performances as a cylinder lubricator. In this study, the effects of pump motor speed, plunger stroke and cylinder back pressure on oil feed rate, maximum discharge and delivery pressures are experimentally investigated by using the electronically controlled quill injection system and distributer in the developed cylinder lubricator. It is found that the oil feed rates of electronic control and mechanical type quills with the in-cylinder back pressure are differently characterized by the role of accumulator, the viscous resistance of contact area, etc. It can be also shown that the maximum discharge pressure of the electronic control quill is lower than the mechanical type one but the maximum discharge pressure difference of two types decreased as plunger stroke is small, and the maximum delivery pressures of two types increased as plunger stroke, motor speed and back pressure are elevated but the maximum delivery pressure of mechanical type is higher than the one of electronic control type.

• Journal of Mechanical Science and Technology
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• v.19 no.3
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• pp.778-791
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.2
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• pp.1-11
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• 2011

The skid-steering method that applied a number of mobile robot currently is extremely effective in narrow area. But it contains several problems such as its natural properties, slip, occurred by different direction between vehicle's driving and wheel's rotary. Through this paper, suitable control algorithm of $6{\times}6$ skid steering wheeled vehicle and its driving methods are proposed by analyzing the behavior $6{\times}6$ skid-steered wheeled vehicle model designed by engineering analysis strategy. To do this, based on a behavior of designed driving system, required torque and other performance of in-wheel type motor system are considered, and finally control algorithm for each wheel is proposed and simulated using this model. To test the proposed vehicle system, driver model is designed using PID closed loop system and included in the total driving control algorithm. The Performance of designed vehicle model is verified by using DYC (Direct Yaw Control) cornering mode and slip mode control to follow the steering input which are essential to evaluate the driving performance of $6{\times}6$ vehicle. Proposed modeling strategy and control method will be implemented to the real $6{\times}6$ in-wheel drive type vehicle.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.6
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• pp.2441-2451
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• 2012

This paper presents the design of a control system for improving performance of a washer fluid heating system (WFHS) which is capable of removing frost, ice, snow and/or other debris from windshield. First, for the WFHS, a modeling process is described, and the extraction of characteristic parameters of the model are made by experimental studies. Design variables that affect on performance of the WFHS are also presented. Secondly, a control system is proposed for improving heating performance of the WFHS, and its performance is verified through experiments. The key feature of the proposed control system is to regulate the current of a booster converter input to the WFHS up to the target value that is set to guarantee heating performance. Target current is calculated by using initial temperature value and employing the mathematical model derived in the paper. Computer simulation and experimental results show that the proposed control system can perform heating operations in a way to satisfy per-determined target performance of the WFHS.

• Journal of Drive and Control
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• v.10 no.2
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• pp.7-12
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• 2013

In this study, a wire/wireless communication system transmitting the operation data of engine from the ER (Engine Room) to the engine controller of ECR(Engine Control Room) has been developed through the communication of ISM(Industrial Science Medical) Band for the test operation environment improvement of medium speed engine. This wire/wireless communication system is composed of the RTU (Remote Terminal Unit) gathering and transmitting engine data as well as the MCU (Master Control Unit) receiving engine status information from the RTU to be sent to the engine controller (PLC). Through this study, a trial product of RTU and MCU has been manufactured. A test bench that has made temperature, pressure and pick-up sensor into a module for the local test of prototype was produced a test bench. In addition, at the same time save the data to a Web server and the smart phone real-time monitoring system has been developed using Wi-Fi communications. The ultimate objective of this study is to develop a wireless smart phone monitoring system of engine for the operator of engine to be able to monitor and control engine status even from the outside of engine room and control room based on this study.

• International Journal of Automotive Technology
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• v.7 no.1
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• pp.25-34
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• 2006

For decades, simulation technique has been well validated in areas such as computer and communication systems. Recently, the technique has been much used in the area of transportation and traffic forecasting. Several methods have been proposed for investigating complex traffic flows. However, the dynamics of vehicles and diversities of driver characteristics have never been considered sufficiently in these methods, although they are considered important factors in traffic flow analysis. In this paper, we propose a traffic simulation tool called Multi-Agent for Traffic Simulation with Vehicle Dynamics Model (MATDYMO). Road transport consultants, traffic engineers and urban traffic control center managers are expected to use MATDYMO to efficiently simulate traffic flow. MATDYMO has four sub systems: the road management system, the vehicle motion control system, the driver management system, and the integration control system. The road management system simulates traffic flow for various traffic environments (e.g., multi-lane roads, nodes, virtual lanes, and signals); the vehicle motion control system constructs the vehicle agent by using various vehicle dynamic models; the driver management system constructs the driver agent capable of having different driving styles; and lastly, the integrated control system regulates the MATDYMO as a whole and observes the agents running in the system. The vehicle motion control system and driver management system are described in the companion paper. An interrupted and uninterrupted flow model were simulated, and the simulation results were verified by comparing them with the results from a commercial software, TRANSYT-7F. The simulation result of the uninterrupted flow model showed that the driver agent displayed human-like behavior ranging from slow and careful driving to fast and aggressive driving. The simulation of the interrupted flow model was implemented as two cases. The first case analyzed traffic flow as the traffic signals changed at different intervals and as the turning traffic volume changed. Second case analyzed the traffic flow as the traffic signals changed at different intervals and as the road length changed. The simulation results of the interrupted flow model showed that the close relationship between traffic state change and traffic signal interval.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.828-834
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• 2014

This paper presents a comparison among three types of approaches to an ARC (Active Roll Control) with an AARB(Active Anti-Roll Bar) for a vehicle system. Lateral acceleration and road profile are considered as disturbance. The ARC is designed with an LQ SOF (Linear Quadratic Static Output Feedback) control, $H_{\infty}$ control and SMC (Sliding Mode Control). These approaches are compared in terms of rollover prevention and ride comfort. For comparison, Bode plot analysis based on linear model and frequency response analysis based on CarSim simulation are performed.

• Journal of Drive and Control
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• v.10 no.1
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• pp.1-6
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• 2013

The paper describes a technique that compensates a friction in pneumatic cylinder to perform the position control. The friction is one of the most common nonlinearities present in pneumatic actuating systems. For accurate position control and low velocity control, control strategies usually rely on accurate estimation of friction. This paper presents a observer to estimate the friction force in the pneumatic cylinder from the pressures in cylinder chambers. Also, the stiction compensation of a pneumatic cylinder is obtained by adding pulses to the control signal using impulsive control. The characteristics of the pulses in impulsive control are determined from the control action. The simulation results are proved that the method proposed here is effective.