• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.160.3-160
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• 2001

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A new control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.45.3-45
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• 2001

This paper deal with a fault detection algorithm for front wheel passenger car systems by using robust $H{\infty}$ control theory. Firstly, we present a unified formulation of vehicle dynamics for front wheel car systems and transform this formulation into state space form. Also, by considering the cornering stiffness which depends on the tyre-road contact conditions, a multiplicative uncertainty for vehicle model is described. Next, the failures of sensor and actuator for vehicle system are defined in which the fault .lter is considered. From the nominal vehicle model, an augmented system includes the multiplicative uncertainty and the model of fault filter is proposed. Lastly by using $H{\infty}$ norm property the fault detect conditions are deefi.ned, and the actuator and sensor failures are detected and isolated by designing the robust $H{\infty}$ controller, respectively.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.5
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• pp.541-549
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• 2008

The dynamic contact between a high-speed wheel and an elastic beam is numerically analyzed by solving the whole equations of motion of the wheel and the beam subjected to the contact condition. For the stability of the numerical solution, the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Through the numerical examples, it is shown that the acceleration contact constraint including the Coriolis and centripetal accelerations are crucial for the numerical stability.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.501-507
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• 2013

This paper presents the development and balancing control of GYROBO, a one wheeled mobile robot system. GYROBO is a disc type one wheel mobile robot that has three actuators, a drive motor, a spin motor, and a tilt motor. The dynamics and kinematics of GYROBO are analyzed, and simulation studies conducted. A one-wheeled robot, GYROBO is built and its balancing control is performed. Experimental studies of GYROBO's balancing abilities are conducted to demonstrate the gyroscopic effects generated by the spin and tilt angles of a flywheel.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.257-257
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• 2000

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A predictive control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in forward and backward direction in such a way to satisfy the given constraint condition, maintain consistency, reduce the uncertainties, and guarantee robustness. A series of experiments was conducted to evaluate the control performance, in which a car Like robot was utilized to quit unwanted safety problem. As the results, the robot was keeping very well a given lane with arbitrary shape at moderate speed.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.10
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• pp.875-882
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• 2011

In this paper, the finite element analysis model of the mult-axial wheel durability test configuration is created using SAMCEF. Mooney-Rivlin 2nd model is applied to the tire model, and the variation of the air pressure inside the tire is considered. Vertical load, lateral load and camber angle are applied to the simulation model. The tire rotates because of the friction contact with a drum, and reaches its maximum speed of 60 km/h. The dynamics stress results of the simulation and experiment are compared, and the reliability of the simulation model is verified.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2003.11a
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• pp.112-117
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• 2003

The purpose of this work is to general approach to numerically simulating wear in rolling and sliding contact area between wheel and rail interface based on the analysis of dynamics with general MBS package. A simulation scheme is developed that calculates the wear at a detailed level. The estimation of material removal follows Archard's wear equation which states that the reduction of volume is linearly proportional to the sliding distance, the normal applied load and the wear coefficient and inverse proportional to hardness. The main research application is the wheel-rail contact of Korea High Speed Railway.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.6
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• pp.23-29
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• 2011

In this study, a camber angle generating mechanism for front and rear suspension is suggested. An experimental device is implemented and tested. A full vehicle model with camber angle generating device by using ADAMS/Car is modeled. Step steer simulations are carried out for investigating the effects of vehicle handling performance due to camber angle change of front and rear wheel. According to results, the camber angle of rear suspension affects the vehicle handling performance during both simulations. Therefore, when the vehicle makes the right turn or left turn, left and right wheel of front and rear suspension should have the proper orientation for improving the handling performance, respectively.

• Transactions of the Korean Society of Automotive Engineers
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• v.3 no.2
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• pp.86-94
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• 1995

For a driving vehicle, a self-excited vibration of a pair of steerable wheels about their steering axis accompanied by tramp is called shimmy. Shimmy is caused by the coupling effects of the complicated actions of wheel and tire and the tramp motion of front wheel axle. Because front axle is no longer used on passenger cars shimmy occurring is not considerable. But in commercial vehicles using front wheel axle suspension system shimmy should be considered in design process. In this paper, the model closed to a practical vehicle was developed to analyze the shimmy of a commercial vehicle, and the effects of various design parameters to shimmy were observed by dynamic simulation with multibody dynamics program, DADS. The validity of developed model and analysis results were verified by practical vehicle experiments.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.10 s.253
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• pp.1276-1283
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• 2006

This study proposes two ESP systems which are designed to enhance the lateral stability of a vehicle. A BESP uses an inner rear wheel braking pressure controller, while a EBESP employs an inner rear wheel and front outer wheel braking pressure controller. The performances of the BESP and EBESP are evaluated for various road conditions and steering inputs. They reduce the slip angle and eliminate variation in the lateral acceleration, which increase the controllability and stability of the vehicle. However EBESP enhances the lateral stability and comfort. A driver model is also developed to control the steer angle input. It shows good performances because the vehicle tracks the desired lane very well.