• Title, Summary, Keyword: Loop Wheel

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A Study on In-wheel Motor Control to Improve Vehicle Stability Using Human-in-the-Loop Simulation

  • Ko, Sung-Yeon;Ko, Ji-Weon;Lee, Sang-Moon;Cheon, Jae-Seung;Kim, Hyun-Soo
    • Journal of Power Electronics
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    • v.13 no.4
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    • pp.536-545
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    • 2013
  • In this study, an integrated motor control algorithm for an in-wheel electric vehicle is suggested. It consists of slip control that controls the in-wheel motor torque using the road friction coefficient and slip ratio; yaw rate control that controls the in-wheel motor torque according to the road friction coefficient and the yaw rate error; and velocity control that controls the vehicle velocity by a weight factor based on the road friction coefficient and the yaw rate error. A co-simulator was developed, which combined the vehicle performance simulator based on MATLAB/Simulink and the vehicle model of CarSim. Based on the co-simulator, a human-in-the-loop simulation environment was constructed, in which a driver can directly control the steering wheel, the accelerator pedal, and the brake pedal in real time. The performance of the integrated motor control algorithm for the in-wheel electric vehicle was evaluated through human-in-the-loop simulations.

An experimental study on attitude control of spacecraft using roaction wheel (반작용 휠을 이용한 인공위성 지상 자세제어 실험 연구)

  • 한정엽;박영웅;황보한
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1334-1337
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    • 1997
  • A spacecraft attitude control ground hardware simulator development is discussed in the paper. The simulator is called KT/KARI HILSSAT(Hardware-In-the Loop Simulator Single Axis Testbed), and the main structure consists of a single axis bearing and a satellite main body model on the bearing. The single axis tabel as ans experimental hardware simulator that evaluates performance and applicability of a satellite before evolving and/or confirming a mew or and old control logic used in the KOREASAT is developed. Attitude control of spaceraft by using reaction wheel is performed.

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Evaluation of A Direct Yaw Moment Control Algorithm by Brake Hardware-In-The -Loop Simulation (브레이크HILS를 이용한 능동 요모멘트 제어 알고리즘의 평가)

  • 류제하;김호수
    • Transactions of the Korean Society of Automotive Engineers
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    • v.7 no.8
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    • pp.172-179
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    • 1999
  • This paper presents a simple but effective DYC algorithm which enhances vehicle lateral stability by using an anti=lock brake system (ABS). In the proposed algorithm, only the front outer wheel is controlled during cornering maneuver instead of controlling all four wheels because the wheel has the largest role in DYC and it is easy and simple to control the only one wheel. An ABS Hardware - In -The -Loop Simulation ( HILS) system that may be used to realistically test real vehicle dynamic behavior in a lab is used for evaluating the proposed DYC algorithm in severe situations where a vehicle is destabilized without DYC . The HILS results show that the proposed DYC algorithm has the potential of maintaining vehicle stability in some dangerous situations.

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INTEGRATED VEHICLE CHASSIS CONTROL WITH A MAIN/SERVO-LOOP STRUCTURE

  • Li, D.;Shen, X.;Yu, F.
    • International Journal of Automotive Technology
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    • v.7 no.7
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    • pp.803-812
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    • 2006
  • In order to reduce the negative effects of dynamic coupling among vehicle subsystems and improve the handling performance of vehicle under severe driving conditions, a vehicle chassis control integration approach based on a main-loop and servo-loop structure is proposed. In the main-loop, in order to achieve satisfactory longitudinal, lateral and yaw response, a sliding mode controller is used to calculate the desired longitudinal, lateral forces and yaw moment of the vehicle; and in the servo-loop, a nonlinear optimizing method is adopted to compute the optimal control inputs, i.e. wheel control torques and active steering angles, and thus distributes the forces and moment to four tire/road contact patches. Simulation results indicate that significant improvement in vehicle handling and stability can be expected from the proposed chassis control integration.

Structural Characteristic Analysis of a High-precision Centerless Grinding Machine with a Concrete-filled Bed

  • Kim, Seok-Il;Cho, Jae-Wan
    • International Journal of Precision Engineering and Manufacturing
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    • v.7 no.4
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    • pp.34-39
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    • 2006
  • High-precision centerless grinding machines are emerging as a means of finishing the outer diameter grinding process required for ferrules, which are widely used as fiber optic connectors. In this study, a structural characteristic analysis and evaluation were carried out using a virtual prototype of a centerless grinding machine to realize systematic design technology and performance improvements required to manufacture ferrules. The prototype consisted of a concrete-filled bed, hydrostatic grinding wheel (GW) and regulating wheel (RW) spindle systems, a hydrostatic RW feed mechanism, a RW swivel mechanism, and on-machine GW and RW dressers. The loop stiffness values of the centerless grinding machine were estimated based on the relative displacements between the GW and RW caused by grinding forces. The simulated results illustrated that a concrete-filled bed considerably improved the structural stiffness and accuracy of a high-precision centerless grinding machine.

Analysis about the new wheel changes of the rolling stocks after using the loop in Seoul Metro 2.3 lines (서울 메트로 2.3호선 루프선 사용 전후의 전동차 차륜교환분석)

  • Kim, Dong-Min;Ahn, Jong-Kon
    • Proceedings of the KSR Conference
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    • pp.35-50
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    • 2007
  • A contact patch between the wheel and the rail supports the train body and a traction power comes from it when rolling stocks run on the railroad. Friction force between the wheel and rail makes the train move on the rail. Whenever the train runs on the rail, the wheels and rails wear down by frictions inevitably. So it must be shaped by the lathe or changed for the safety train operation and the comfortable ride. Until now, many measures were carried out in order to prevent a wear and tear of the wheels. For example loop line railway in Kun Ja depot and Ji Chuk depot. This document reports the wheel changing data taken by maintenances department for the period before and after 1996 in the 1.2.3.4 lines in Seoul metro.

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Behaviors of Precast Concrete Bridge Decks under Wheel Load (윤하중조건에서의 프리캐스트 콘크리트 바닥판 거동 특성)

  • Joo Bong Chul;Park Hung Seok;Kim Young Jin;Song Jae Joon
    • Proceedings of the Korea Concrete Institute Conference
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    • pp.303-306
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    • 2005
  • For checking influence of load-position and system of stress-transmission in precast concrete bridge deck system, the test composite bridge was made a experiment by the wheel load machine. The result of experiment was the loop joint system of the precast decks has a difference which was the transmission system of longitudinal stress, comparing with general RC bridge deck system. The loop joint system has a behavior independently.

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Hybrid control of a tricycle wheeled AGV for path following using advanced fuzzy-PID

  • Bui, Thanh-Luan;Doan, Phuc-Thinh;Van, Duong-Tu;Kim, Hak-Kyeong;Kim, Sang-Bong
    • Journal of Advanced Marine Engineering and Technology
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    • v.38 no.10
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    • pp.1287-1296
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    • 2014
  • This paper is about control of Automated Guided Vehicle for path following using fuzzy logic controller. The Automated Guided Vehicle is a tricycle wheeled mobile robot with three wheels, two fixed passive wheels and one steering driving wheel. First, kinematic and dynamic modeling for Automated Guided Vehicle is presented. Second, a controller that integrates two control loops, kinematic control loop and dynamic control loop, is designed for Automated Guided Vehicle to follow an unknown path. The kinematic control loop based on Fuzzy logic framework and the dynamic control loop based on two PID controllers are proposed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.

a city railroad rolling-stock wheel wear and study about maintenance standard (도시철도차량 차륜마모 특성 및 유지보수기준에 관한 연구)

  • Park, Soo-Choong;Ji, Yong-Hyeon;Kim, Eun-Sil
    • Proceedings of the KSR Conference
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    • pp.806-812
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    • 2008
  • Many kinds of rolling-stocks that have various control methods are being operated by Seoulmetro which is a history of a city railroad rolling-stock. Seoulmetro is being faced with a wheel management comparing of other lines with a perpendicular wear of wheel and a side damage, and so on, by operating several cars at a loop line. This is causing maintenance expenses increase and deteriorating a fusibility of rolling-stock, for it has an effect on a rolling-stock using. A cutting pattern of wheel and a wear form affect the expected span of a wheel. A wheel cutting cause is classifed into cutting for reprofiling of a flange wear of wheel and for removing every kind defect which originates from wheel wear. In this study, Seoulmetro exhibit a stable rolling-stock use method and a reasonable management method of wheel, analysing wheel exchange condition and cutting management of wheel.

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