• 대한기계학회논문집A
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• 제30권3호
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• pp.295-301
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• 2006

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional ABS systems. In order to achieve the superior braking performance through the wheel-slip control, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance, stability enhancement, etc. In this paper, a robust wheel slip controller is developed based on the adaptive sliding mode control method and an optimal target slip assignment algorithm. An adaptive law is formulated to estimate the longitudinal braking force in real-time. The wheel slip controller is designed using the Lyapunov stability theory and considering the error bounds in estimating the braking force and the brake disk-pad friction coefficient. The target slip assignment algorithm is developed for the maximum braking force and searches the optimal target slip value based on the estimated braking force. The performance of the proposed wheel-slip control system is verified In simulations and demonstrates the effectiveness of the wheel slip control in various road conditions.

• International Journal of Automotive Technology
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• 제8권2호
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• pp.211-217
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• 2007

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional ABS (Anti-lock Brake System) systems. In realizing the wheel slip control systems, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance and stability enhancement. In this paper, a robust wheel slip controller is developed based on the adaptive sliding mode control method and an optimal target slip assignment algorithm is proposed for maximizing the braking force. An adaptive law is formulated to estimate the braking force in real-time. The wheel slip controller is designed based on the Lyapunov stability theory considering the error bounds in estimating the braking force and the brake disk-pad friction coefficient. The target slip assignment algorithm searches for the optimal target slip value based on the estimated braking force. The performance of the proposed wheel slip control system is verified in HILS (Hardware-In-the-Loop Simulator) experiments and demonstrates the effectiveness of the wheel slip control in various road conditions.

• 한국자동차공학회논문집
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• 제14권4호
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• pp.174-180
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• 2006

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional braking control systems. In order to achieve the superior braking performance through the wheel slip control, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance, stability enhancement, etc. In this paper, a wheel slip control system is developed for maintaining the vehicle stability based on the braking monitor, wheel slip controller and optimal target slip assignment algorithm. The braking monitor estimates the tire braking force, lateral tire force and brake disk-pad friction coefficient utilizing the extended Kalman filter. The wheel slip controller is designed based on the sliding mode control method. The target slip assignment algorithm is proposed to maintain the vehicle stability based on the direct yaw moment controller and fuzzy logic. The performance of the proposed wheel slip control system is verified in simulations and demonstrates the effectiveness of the wheel slip control in various road conditions.

• Design & Manufacturing
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• 제12권3호
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• pp.48-54
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• 2018

This paper presents a numerical study for the development of a low-noise low-vibration industrial wheel for non-pneumatic wheel to significantly reduce vibration and noise. For this, design, injection molding and performance testing were performed. Various geometric shapes and materials were taken into account. For numerical analysis, ANSYS, LS-Dyna, and ABAQUS were used to predict the behavior of the wheel under different loadings based on various design changes. Based on this, 4 prototypes were fabricated by changing the design of wheels and molds, and various vibration and noise tests were carried out. A vibration tester was developed and tested to perform the vibration noise test considering durability. A prototype and test of the final wheel was performed. In the case of the vibration test, the vibration levels were 81.16dB and 80.66dB, which were below the target 90dB. Noise levels were 53.20 dB and 52.55 dB below the target 65dB. In the case of the impact resistance test, it was confirmed that there was no change in appearance after impact. The product weight was measured to be 174g compared to the target of 190g.

• International Journal of Automotive Technology
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• 제7권2호
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• pp.201-208
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• 2006

This paper describes the control philosophy of ESP(Electronic Stability Program) which consists of the stability control the fault diagnosis and the fault tolerant control. Besides the functional performance of the stability control, robustness of control and fault diagnosis is focused to avoid the unnecessary activation of the controller. The look-up tables are mentioned to have the accurate target yaw rate of the vehicle and obtained from vehicle tests for the whole operation range of the steering wheel angle and the vehicle speed. The wheel slip control with a design goal of wheel slip invariance is implemented for the yaw compensation and the target wheel slip is determined by difference between the target yaw rate and actual yaw rate. Since the ESP has a high severity level and the robust control is required, the robustness margin for the stability control is determined according to several uncertainties and the robust fault diagnosis is performed. Both computer simulation and test results are shown in this paper.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1053-1061
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• 2008

In this paper, a moving target tracking using a binocular vision for an omni-directional mobile robot is addressed. In the binocular vision, three dimensional information on the target is extracted by vision processes including calibration, image correspondence, and 3D reconstruction. The robot controller is constituted with SPI(serial peripheral interface) to communicate effectively between robot master controller and wheel controllers.

• International Journal of Automotive Technology
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• 제8권3호
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• pp.299-308
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• 2007

This study proposes a two-layer hierarchical control system that integrates active front wheel steering and four wheel braking torque control to improve vehicle handling performance and stability. The first layer is a robust model matching controller (R-MMC) based on linear matrix inequalities (LMIs), which optimizes an active front steering angle compensation and a desired yaw moment control, and calculates reference wheel slip for the target wheel according to the desired yaw moment. The second layer is a moving sliding mode controller (MSMC) that can track the reference wheel slip in a predetermined time by commanding proper braking torque on the target wheel to achieve the desired yaw moment. Since vehicle sideslip angle measurement is difficult to achieve in practice, a sliding mode observer (SMO) that requires only vehicle yaw rate as the measured input is also developed in this study. The performance and robustness of the SMO and the integrated control system are demonstrated through comprehensive computer simulations. Simulation results reveal the satisfactory tracking ability of the SMO, and the superior improved vehicle handling performance, stability and robustness of the integrated control vehicle.

• International Journal of Automotive Technology
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• 제3권4호
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• pp.165-170
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• 2002

For a vehicle Anti-lock Braking System (ABS), the control target is to maintain friction coefficients within maximum range to ensure minimum stopping distance and vehicle stability. But in order to achieve a directionally stable maneuver, tire side forces must be considered along with the braking friction. Focusing on combined braking and turning operation conditions, this paper presents a new control scheme for an ABS controller design, which calculates optimal target wheel slip ratio on-line based on vehicle dynamic states and prevailing road condition. A fuzzy logic approach is applied to maintain the optimal target slip ratio so that the best compromise between braking deceleration, stopping distance and direction stability performances can be obtained for the vehicle. The scheme is implemented using an 8-DOF nonlinear vehicle model and simulation tests were carried out in different conditions. The simulation results show that the proposed scheme is robust and effective. Compared with a fixed-slip ratio scheme, the stopping distance can be decreased with satisfactory directional control performance meanwhile.

• 선박안전
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• 통권38호
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• pp.69-77
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• 2015

If we don't know the intention of altering course of a target ship when being in a head-on or a crossing situation, we may be confused about our decision making to change our course for collision avoidance and be in a danger of collision. In order to solve these problems, we need to develop an automatic detection system on altering course of a target ship for efficient collision avoidance. In this paper, we proposed an early detection system on altering course of a target ship using the steering wheel signal. This system will contribute to the reduction of collision accidents and also be used to the VTS system and the analysis of marine accidents.

• 선박안전
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• 통권36호
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• pp.71-78
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• 2014

If we don't know the intention of altering course of a target ship when being in a head-on or a crossing situation, we may be confused about our decision making to change our course for collision avoidance and be in a danger of collision. In order to solve these problems, we need to develop an automatic detection system on altering course of a target ship for efficient collision avoidance. In this paper, we proposed an early detection system on altering course of a target ship using the steering wheel signal. This system will contribute to the reduction of collision accidents and also be used to the VTS system and the analysis of marine accidents.