• Title, Summary, Keyword: Differential drive

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Velocity Control Algorithm for Operator-centric Differential-Drive Mobile Robot Control (운용자 중심의 차동바퀴형 모바일 로봇 조종을 위한 속도 제어 알고리즘)

  • Kim, Dong-Hwan;Lee, Dong-Hyun
    • Journal of the Korea Industrial Information Systems Research
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    • v.24 no.5
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    • pp.121-127
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    • 2019
  • This paper proposes an operator-centric velocity generation and control algorithm for differential-drive mobile robots, which are widely used in many industrial applications. Most of the previous works use a robot centric velocity generation and control for the operators to control the differential-drive mobile robots, which makes the robot control difficult for the operators. Such robot-centric control can cause the increase of accidents and the decrease of work efficiency. The experimental results with a real differential-drive mobile robot testbed demonstrate the efficiency of operator-centric mobile robot control.

Position, Orientation, and Velocity Feedback Control Algorithms for Differential-Drive Bobile Robot (차동 구동형 이동 로보트의 위치, 방향 및 속도 궤환 제어 알고리즘)

  • 정용욱;박종국
    • Journal of the Korean Institute of Telematics and Electronics S
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    • v.34S no.11
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    • pp.63-72
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    • 1997
  • The design and implementation of a drive wheel position, orientation, and velocity feedback control algorithm for a differential-drive mobile robot is described here. A new concept, the most significant error, is introduced as the control design objective. Drive wheel position, orientation, and velocity feedback control directly minimize the most siginificant error by coordinating the motion of the two drive wheels. The drive wheel position, orientation, and velocity feedback control algorithm is analyzed and experiments are conducted to evaluate its performance. The experimental results are shown that drive wheel position, orientation and velocity feedback control algorithm yields substantially smaller position and orientation errors than those of conventional methods.

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Differential Driving of Inverter for High Uniformity LCD TV Backlight (LCD TV용 고균일도 백라이트 구동을 위한 Differential Driving 인버터)

  • Chun Young Tea;Lim Sungkyoo
    • Journal of the Microelectronics and Packaging Society
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    • v.11 no.2
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    • pp.37-41
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    • 2004
  • Parallel combination of cold chathode fluorescent lamps (CCFL) are widely used as the light sources of LCD TV backlight. Brightness uniformity is safisfied by using one transformer per one CCFL. Instead of using one transformer per oneCCFL, one transformer is used to drive 8 CCFLs by using differential driving method. A differential driving inverter with two transformers is developed to drive 16 CCFLs of 26' backlight for LCD TV. The brightness uniformity of $88\%$ was obtained by driving 26' backlight with the developed differential driving inverter successfully.

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Failure Examples Study for Tribological Characteristics of Drive Shaft and Axle System in Vehicles (자동차 드라이브 샤프트와 액슬 시스템의 트라이볼로지적인 특성에 관한 고장사례 고찰)

  • Lee, Il Kwon;Moon, Hak Hoon;Youm, Kwang Wook
    • Tribology and Lubricants
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    • v.29 no.6
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    • pp.397-402
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    • 2013
  • This study examined the tribological characteristics of the drive shaft and axle system in vehicles. The first drive shaft example contained end play for a CV joint that transferred part of the transmission power to the wheel. The joint part of the drive shaft was deformed because of reduced durability due to wear. Thus, vibrations caused the body to shake and become unbalanced when the drive shaft transferred the power. The second example was the cross-section of a shaft that connected the slip-connection of the propeller shaft on the input side to the yoke flange of the output side; the durability was reduced because of corrosion. End play caused by wear between the bearing and cross-section shaft appeared to cause shaking. In the third example, a grease leak reduced lubrication and thus caused damage to the hub bearing and inside the knuckle. The failure was produced by sticking. The fourth example had noise produced by the gear and gear transfer. This was due to the backlash of the pinion and few ring gears for the differential gear. Therefore, drive shaft and axle systems must be thoroughly checked and managed to minimize and reduce failure phenomena.

Dynamic Modeling and Path-tracking of Differential Drive Wheeled-Mobile Robots (구동토크의 제약을 갖는 차동 구륜이동로봇의 동역학 모델링과 경로추적)

  • Moon, Jong-Woo
    • The Transactions of the Korean Institute of Electrical Engineers P
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    • v.51 no.1
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    • pp.45-51
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    • 2002
  • In this paper are presented dynamic modeling and path-tracking of differential drive wheeled-mobile robots(WMRs) having the limited drive-torques. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling method. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

A Study on the Analysis of Design Parameters for Development of LSD (다판 클러치방식 차동제한장치 개발을 위한 설계인자 분석에 관한 연구)

  • Shin, Young-Ho;Lee, Dong-Won;Shin, Chun-Se
    • Journal of the Korean Society of Safety
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    • v.25 no.3
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    • pp.15-21
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    • 2010
  • A differential case equipped with LSD(limited slip differential) has several advantages over a normal type for rear wheel drive vehicles. Specially, the torque distribution can be done between left and right drive wheel in the state of limited slip differential. Also although LSD types are very various according to operating type, medium and torque distribution, a multi-clutch type is generally applied to rear wheel drive vehicles. So, this study presents the analysis of design parameters for development of a friction plate for multi-clutch type LSD using vehicle road test, the simulation of analytical model and the development of vehicle dynamics model by a benchmark product. According to this investigation, the design parameters which are pre-load of coil spring, friction plate and contact area quantity, friction coefficient and TBR(torque bias ratio) for a friction plate are derived from experiment and simulation and consequently, vehicle dynamics model has been constructed for the development of friction plate for multi-clutch type LSD.

Magnetic Guidance Vehicle using Up-and-down Rotating Type Differential Drive Unit (상하 회전형 차동 구동부를 이용한 자기 유도 무인운반차)

  • Song, Hajun;Cho, Hyunhak;Kim, Sungshin
    • Journal of Korean Institute of Intelligent Systems
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    • v.24 no.2
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    • pp.123-128
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    • 2014
  • This paper presents the study about MGV(Magnetic guidance vehicle) with up-and-down rotating type differential drive unit. Previous MGV needs the landmarks to get the driving information and additional sensor to recognize the landmarks except for localization sensor. Previous MGV requires at least 2 drive units when common fixed differential drive unit is used because it occurs the problems with driving control and localization error from imbalance of the MGV's weight. To solve such problems, we propose the MGV using up-and-down rotating type differential drive unit. Proposed MGV recognizes the driving information from the pattern which is consisted of both pole of magnet without landmarks and additional sensors, and it control the backward movement using up-and-down rotating type differential drive unit instead of common drive units. Proposed MGV considers KF(Kalman filter) to improve the localization accuracy. To verify the performance of proposed method, we designed MGV for the experiment. As the results, we can confirm the performance of propoesed method to recognize the pattern and to control the backward movement. With respect to localization, proposed method has the less RMSE about 5.6904 mm than previous method.

A Study on the Reduction of Differential Vibration of FR Passenger Car (후륜구동 승용차의 디퍼렌셜 진동저감에 관한 연구)

  • 최은오
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • pp.316-321
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    • 1997
  • The purpose of this study is to reduce the vibration noise of differential gear by reducing torque fluctuation of drive pinion shaft which causes vibration noise of differential gear in rear wheel drive vehicles. For this we developed multi-degree of freedom analysis model in which mass moment of inertia and torsional spring combined, the validity of the simulation model was checked by the field test and we examined the influence of torsional vibration of driveline elements by performing forced vibration analysis of engine excitation torque. We studied the methods for reducing torsional vibration of driveline according to the design factor of propeller shaft and examined the effects reducing vibration differential gear by applying flexible coupling.

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Vibrational analysis of driveline for reducing differential gear vibration (차동 기어의 진동 저감을 위한 동력 전달계 진동 해석)

  • 최은호
    • Journal of The Korean Society of Manufacturing Technology Engineers
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    • v.6 no.3
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    • pp.96-102
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    • 1997
  • Eigenvalue analysis of vibration mode and an analysis by frequency response among the methods of predicting gear noise are related with transmitting sound of vibration. In this study we intended to reduce the vibration noise of differential gear by reducing torque fluctuation of drive pinion shaft which causes vibration noise of differential gear in rear wheel drive vehicles. For this we developed multi-degree of freedom analysis model in which mass moment of inertia and torsional spring combined and we examined the influence of torsional vibration of driveline elements by performing forced vibration analysis of engine excitation torque. We studied the methods for reducing torsional vibration of driveline according to the design factor of propeller shaft and examined the effects reducing vibration in differential gear by applying flexible coupling.

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A fuzzy-logic controller for a differential-drive mobile robot (이동로봇을 위한 퍼지로직 제어기)

  • 박영민;김대영;한상완;홍석교
    • 제어로봇시스템학회:학술대회논문집
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    • pp.532-535
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    • 1997
  • This paper describes the design of a fuzzy-logic controller for a differential-drive mobile robots. This controller uses absolute position information to modify control parameters to compensate the orientation error. CC-Control method is compensated for the internal error by wheel encoders and the fuzzy-logic control provides compensation for external errors. The validities of the proposed scheme is evaluated using simulation.

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