• Title, Summary, Keyword: Active steering

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Recent Development Of (Semi)-Active Steering Bogie Systems For Railway Vehicles (철도차량용 (반)능동 조향대차 시스템의 기술현황)

  • You, Won-Hee;Park, Joon-Hyuk;Hur, Hyun-Moo
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • pp.510-518
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    • 2008
  • This paper presents recent development of (semi)-active steering bogies for railway vehicles and introduce the state-of-art of related technologies. Steering bogies have been studied in various researchers since they can offer high ride quality for passengers and reduce the maintenance costs of wheel and rail wear. Especially, they are considered to be a fundamental solution to dramatically reduce the squeal noise on tight curves. However, passive steering bogies such as self-steering bogies and forced steering bogies have shown their limits to cope with the various running conditions. Therefore, (Semi)-active steering bogies have been studied to overcome the drawbacks of the passive steering bogies. As a result, an active steering bogie, so called mechatronic bogie, is developed successfully in Europe and it has shown remarkable performance in test line.

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DEVELOPMENT OF AN ACTIVE FRONT STEERING SYSTEM

  • Kim, S.J.;Kwak, B.H.;Chung, S.J.;Kim, J.G.
    • International Journal of Automotive Technology
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    • v.7 no.3
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    • pp.315-320
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    • 2006
  • We have developed an active front steering system(AFS) with a planetary gear train, which can vary the steering gear ratio according to the vehicle speed and improve vehicle stability by superimposing steering angle. We conducted vehicle tests showing that co-operated control of AFS with ESP can improve vehicle stability by direct control of tire slip angle and that steering reaction torque during AFS intervention can be compensated by torque compensation using electric power steering.

Development of a Lane Departure Avoidance System using Vision Sensor and Active Steering Control (비전 센서 및 능동 조향 제어를 이용한 차선 이탈 방지 시스템 개발)

  • 허건수;박범찬;홍대건
    • Transactions of the Korean Society of Automotive Engineers
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    • v.11 no.6
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    • pp.222-228
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    • 2003
  • Lane departure avoidance system is one of the key technologies for the future active-safety passenger cars. The lane departure avoidance system is composed of two subsystems; lane sensing algorithm and active-steering controller. In this paper, the road image is obtained by vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active-steering controller is designed to prevent the lane departure. The developed active-steering controller can be realized by steer-by-wire actuator. The lane-sensing algorithm and active-steering controller are implemented into the steering HILS(Hardware-In-the-Loop Simulation) and their performance is evaluated with a human driver in the loop.

Active steering Control Based on The Estimated Tire Forces (추정된 타이어 힘을 이용한 능동 조향 제어)

  • Seo, Chan-Won;Kim, Jun-Yeong;Hong, Dae-Geon;Heo, Geon-Su
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.24 no.9
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    • pp.2228-2234
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    • 2000
  • Steering of the vehicles on a slippery highway is a difficult task for most passenger car drivers. The steering vehicles on slippery roads tend to slide outward with less lateral forces than on nor mal roads. When the drivers notice that their vehicles on a slippery highway start to depart from the cornering lane, most of them make a sudden steering and/or braking, which in turn may induce spin-out and instability on their vehicles. In this paper, an active steering control method is proposed such that the vehicles in slippery roads are steered as if they are driven on the normal roads. In the proposed method, the estimated lateral forces acting on the steering tires are compared with the reference values and the difference is compensated by the active steering method. A fuzzy logic controller is designed for this purpose and evaluated on a steering Hardware-In-the-Loop Simulation (HILS) system. Steering performance results on the slippery curved and sinus roads demonstrate the effectiveness of the proposed controller. This method can be realized with the steer-by-wire concept and is promising as an active safety technology.

Wheelset Steering Angle of Railway Vehicle according to Primary Suspension Property (철도차량 1차현가 특성에 따른 윤축 조향각 성능 분석)

  • Hur, Hyun Moo;Ahn, Da Hoon;Park, Joon-Hyuk
    • Journal of the Korean Society for Precision Engineering
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    • v.32 no.7
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    • pp.597-602
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    • 2015
  • In this paper, we studied the steering performance of wheelset with primary suspension characteristics of railway vehicle. We carry out dynamic analysis and experimental study for the vehicle models which are different primary suspension characteristics. The steering angle of a vehicle model (Case 1) operating in domestic subway lines is insufficient compared with an objective steering angle for curved track. And the steering angle of a vehicle model (Case 2) with improved self-steering performance of wheelset is a little improved compare to previous vehicle model. But also Case 2 model is still insufficient compared with an objective steering angle and has its limit in steering performance. So to overcome this limit of steering performance of passive type railway vehicle, an active steering technology is being developed. In case of vehicle model with active steering system, the steering performance is improved remarkably compared to passive type vehicle model.

Wheelset Steering Control for Improvement a Running Safety on Curved Track (곡선부 주행안전성 향상을 위한 윤축 조향 제어)

  • Hur, Hyun Moo;Ahn, Da Hoon;Kim, Nam Po;Sim, Kyung Seok;Park, Tae Won
    • Journal of the Korean Society for Precision Engineering
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    • v.31 no.9
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    • pp.759-764
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    • 2014
  • Lateral force of wheel is important parameter when we evaluate the safety of a railway vehicle on curved track. The lateral force of wheel is influenced by the steering performance of wheelsets. Generally, in passive type vehicles, the steering performance of wheelsets is influenced by the parameters like primary spring stiffness, wheel base, conicity of the wheel profile, etc. But, the steering performance of passive type vehicle has its limit. To overcome the limit of the steering performance of passive type vehicle, active steering technology is being developed. In this paper, we analyze the lateral force of wheel and the safety of the railway vehicle on curved track by adopting the active steering technology. As results of dynamic analysis for vehicle model equipped with active steering system, the lateral force of wheel is reduced and the safety is improved remarkably.

Possibility Investigation of the Active Steering Bogie System for a Urban Railway Vehicle (도시형 전동차를 위한 능동조향대차시스템의 적용가능성 고찰)

  • Park, Joon-Hyuk;You, Won-Hee
    • Proceedings of the KSR Conference
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    • pp.715-721
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    • 2007
  • On a conventional rail vehicle, passive primary suspensions stabilize wheelsets in the longitudinal and yaw direction. However, these suspensions reduce the natural curving ability due to the profile of the wheels. Stabilizing and steering of the wheelsets generate the conflict problems in design process. Therefore, most systems are designed to guarantee the stability in spite of decreased curving performance. As a result, severe wear of the wheels and rails occur on tight curves and squeal noise on curving is high. Active steering has been proposed to satisfy stabilizing and steering performance simultaneously. This paper describes the possibility investigation about the application of the active steering bogie for a urban railway vehicle. Vehicles run on an amount of tight curves at mid or low speed in urban railways. Thus, it is important to reduce the wear and squeal noise between wheels and rails. Simulations show that active steering can be reduce the wear and squeal noise significantly compared to conventional systems.

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MPC-based Active Steering Control using Multi-rate Kalman Filter for Autonomous Vehicle Systems with Vision (비젼 기반 자율주행을 위한 다중비율 예측기 설계와 모델예측 기반 능동조향 제어)

  • Kim, Bo-Ah;Lee, Young-Ok;Lee, Seung-Hi;Chung, Chung-Choo
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.61 no.5
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    • pp.735-743
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    • 2012
  • In this paper, we present model predictive control (MPC) applied to lane keeping system (LKS) based on a vision module. Due to a slow sampling rate of the vision system, the conventional LKS using single rate control may result in uncomfortable steering control rate in a high vehicle speed. By applying MPC using multi-rate Kalman filter to active steering control, the proposed MPC-based active steering control system prevents undesirable saturated steering control command. The effectiveness of the MPC is validated by simulations for the LKS equipped with a camera module having a slow sampling rate on the curved lane with the minimum radius of 250[m] at a vehicle speed of 30[m/s].

EVALUATION OF FOUR-WHEEL-STEERING SYSTEM FROM THE VIEWPOINT OF LANE-KEEPING CONTROL

  • Raksincharoensak, P.;Mouri, H.I;Nagai, M.I
    • International Journal of Automotive Technology
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    • v.5 no.2
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    • pp.69-76
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    • 2004
  • This paper evaluates the effectiveness of four-wheel-steering system from the viewpoint of lane-keeping control theory. In this paper, the lane-keeping control system is designed on the basis of the four-wheel-steering automobiles whose desired steering response is realized with the application of model matching control. Two types of desired steering responses are presented in this paper. One is zero-sideslip response, the other one is steering response which realizes zero-phase-delay of lateral acceleration. Using simplified linear two degree-of-freedom bicycle model, simulation study and theoretical analysis are conducted to evaluate the lane-keeping control performance of active four-wheel-steering automobiles which have different desired steering responses. Finally, the evaluation is conducted on straight and curved roadway tracking maneuvers.