• Title, Summary, Keyword: Loop Wheel

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Full Dynamic Model in the Loop Simulation for Path Tracking Control of a 6$\times$6 Mobile Robot (6$\times$6 이동로봇의 경로추종을 위한 동역학 시뮬레이션)

  • Huh, Jin-Wook
    • Journal of the Korea Institute of Military Science and Technology
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    • v.11 no.4
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    • pp.141-148
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    • 2008
  • In this paper, we develop a detailed full dynamic model which includes various rough terrains for 6-wheel skid-steering mobile robot based on the real experimental autonomous vehicle called Dog-Horse Robot. We also design a co-simulation for performance comparison of path tracking algorithms. The control architecture in the co-simulation can be divided into two levels. The high level control is the closed-loop control of path tracking to follow a given path, and the low level is concerned about torque control of wheel motion. The simulation using the mechanical data of the Dog-Horse Robot is performed under the Matlab/Simulink environment. We also simulate and evaluate the performance of the model based adaptive controller.

A Development of Hardware-in-the Loop Simulation System For a Electric Power Steering System (전동식 동력 조향 장치 연구를 의한 HILS 시스템 개발)

  • Park, Dong-Jin;Yun, Seok-Chan;Han, Chang-Su
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.24 no.12
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    • pp.2883-2890
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    • 2000
  • In this study, a Hardware-In-The-Loop-Simulation(HILS) system for developing a Electric-Power-Steering(EPS) system is designed. To test a EPS by HILS system, a mathematical vehicle model with a steering system model has been constructed. This mathematical model has been constructed. This mathematical model has been downloaded to the Digital-Signal-Processor(DSP) board. To realize the lateral force acting on the front wheel in a real car. the steering wheel angle sensor and vehicle velocity have been used for input signal. The force sensor has been used for a feedback signal. The full vehicle states could by simulated by the HILS system. Consequently, the HILS system could by used to analyze control-parameters of a EPS that contributes to the maneuverability and stability of a vehicle. At the same time, the HILS system can evaluate the whole performance of the vehicle-steering system. Also the HILS system could do test could not be executed in real vehicle. The HILs system will useful for developing the control logic for the EPS system.

Design and Experimental Implementation of Easily Detachable Permanent Magnet Reluctance Wheel for Wall-Climbing Mobile Robot

  • Kim, Jin-Ho;Park, Se-Myung;Kim, Je-Hoon;Lee, Jae-Yong
    • Journal of Magnetics
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    • v.15 no.3
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    • pp.128-131
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    • 2010
  • In this paper, we propose a new design of the permanent magnet reluctance wheel which will make it possible to attach the robot to a vertical plane and move it. In the newly suggested design, a permanent magnet is utilized to enhance the adhesive force during attachment, and an electromagnet is produced to weaken the magnetic field of the permanent magnet and reduce the adhesive force for easier detachment of wheels from steel plates. To characterize the performance of this new wheel design, a 3-D finite element analysis is executed using a commercial FE program. The results show that the adhesive force is reduced effectively by the electromagnet which flows in the reverse direction of the magnetic loop of the permanent magnet when the current is supplied to the coil.

Estimation of Individual Vehicle Speed Using Single Sensor Configurations (단일 센서(Single Sensor)를 활용한 차량속도 추정에 관한 연구)

  • Oh, Ju-Sam;Kim, Jong-Hoon
    • Journal of The Korean Society of Civil Engineers
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    • v.26 no.3D
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    • pp.461-467
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    • 2006
  • To detect individual vehicular speed, double loop detection technique has been widely used. This paper investigates four methodologies to measure individual speed using only a single loop sensor in a traveling lane. Two methods developed earlier include estimating the speed by means of (Case 1) the slop of inductance wave form generated by the sensor and (Case 2) the average vehicle lengths. Two other methods are newly developed through this study, which are estimations by measuring (Case 3) the mean of wheelbases using the sensor installed traversal to the traveling lane and (Case 4) the mean of wheel tracks by the sensor installed diagonally to the traveling lane. These four methodologies were field-tested and their accuracy of speed output was compared statistically. This study used Equality Coefficient and Mean Absolute Percentage Error for the assessment. It was found that the method (Case 1) was best accurate, followed by method (Case 4), (Case 2), and (Case 3).

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Characteristics of the Proportional Pressure Control Valve for 4 Wheel Steering System on the Passenger Car (승용차 4륜 조향(4WS) 장치용 비례 압력 제어 밸브의 특성에 관한 연구)

  • 오인호;장지성;이일영
    • Transactions of the Korean Society of Automotive Engineers
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    • v.4 no.4
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    • pp.87-96
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    • 1996
  • The proportional pressure control valve(PCV) is an essential component in the open loop controlled rear wheel steering gear of the four wheel steering(4WS) system on the passenger car. The valve should have versatile functions and higher performance. But, it is hard to find the proportional pressure control valve suitable for the 4WS system. In this paper, the determination of the valve parameters was studied by the stability discrimination and the characteristic analysis for the purpose of the development of a new PCV for the 4WS. The mathematical model of the valve was derived from the valve-cylinder system and the programme for numerical computation was developed. The transfer function of the system was obtained from the mathematical model. The characteristics of the valve were inspected through the experiment and compared to those obtained by numerical method. And then the stability discrimination of the system was done by root locus and the analysis of characteristics was done by the developed programme. From the experiment and the analysis of characteristics was done by the developed programme. From the experiment and the inspection, the appropriation of mathematical model and the usefulness of the programme were confirmed. And the parameters which might affect the performance of the valve can be determined by considering the stability discrimination, the characteristics analysis and required functions.

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Development of a Hardware-In-Loop (HIL) Simulator for Spacecraft Attitude Control Using Momentum Wheels

  • Kim, Do-Hee;Park, Sang-Young;Kim, Jong-Woo;Choi, Kyu-Hong
    • Journal of Astronomy and Space Sciences
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    • v.25 no.4
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    • pp.347-360
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    • 2008
  • In this paper, a Hardware-In-the-Loop simulator to simulate attitude control of space craft using momentum wheels is developed. The simulator consists of a spherical air bearing system allowing rotation and tilt in all three axes, three momentum wheels for actuation, and an AHRS (Attitude Heading Reference System). The simulator processes various types of data in PC104 and wirelessly communicates with a host PC using TCP/IP protocol. A simple low-cost momentum wheel assembly set and its drive electronics are also developed. Several experiments are performed to test the performance of the momentum wheels. For the control performance test of the simulator, a PID controller is implemented. The results of experimental demonstrations confirm the feasibility and validity of the Hardware-In-the-Loop simulator developed in the current study.

RESULTS OF FUNCTIONAL SIMULATION FOR ABS WITH PRE-EXTREME CONTROL

  • IVANOV V.;BELOUS M.;LIAKHAU S.;MIRANOVICH D.
    • International Journal of Automotive Technology
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    • v.6 no.1
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    • pp.37-44
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    • 2005
  • The creation of automotive systems of active safety with intelligent functions needs the use of new control principles for the wheel and automobile. One of such directions is the pre-extreme control strategy. Its aim is the ensuring of wheel's work in pre-extreme, stable area of tire grip wheel slip dependence. The simplest realization of pre-extreme control in automotive anti-lock brake systems consists in the threshold and gradient algorithms. A comparative analysis of these algorithms, which has been made on 'hardware in-the-loop' simulation results of the braking for bus with various anti-lock brake systems (ABS), indicated their high efficiency.

DEVELOPMENT OF VEHICLE DYNAMICS MODEL FOR REAL-TIME ELECTRONIC CONTROL UNIT EVALUATION SYSTEM USING KINEMATIC AND COMPLIANCE TEST DATA

  • KIM S. S.;JUNG H. K.;SHIM J. S.;KIM C. W.
    • International Journal of Automotive Technology
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    • v.6 no.6
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    • pp.599-604
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    • 2005
  • A functional suspension model is proposed as a kinematic describing function of the suspension, that represents the relative wheel displacement in polynomial form in terms of the vertical displacement of the wheel center and steering rack displacement. The relative velocity and acceleration of the wheel is represented in terms of first and second derivatives of the kinematic describing function. The system equations of motion for the full vehicle dynamic model are systematically derived by using velocity transformation method of multi-body dynamics. The comparison of test and simulation results demonstrates the validity of the proposed functional suspension modeling method. The model is computationally very efficient to achieve real-time simulation on TMS 320C6711 150 MHz DSP board of HILS (hardware-in-the-loop simulation) system for ECU (electronic control unit) evaluation of semi-active suspension.

Evaluation of the Friction Coefficient from the Dynamometer Test of the Aircraft

  • Woo, Gui-Aee;Jeon, Jeong-Woo;Lee, Ki-Chang;Kim, Yong-Joo
    • 제어로봇시스템학회:학술대회논문집
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    • pp.548-552
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    • 2003
  • In the braking system, the friction force is the most important factor of the design. For long time, many researchers have been strived for getting the exact friction coefficients. But the friction coefficients are affected by the road condition and changed by lots of parameters, such as normal force and characteristics between two contacted materials, temperature, etc. For the development of ABS of the aircraft, HILS(Hardware-In-the-Loop-Simulation) test and dynamometer test was carried out. For the calculation of the friction coefficients, the wheel moments were measured using the load cell mounted on the housing of the wheel. The test conditions were dry and greasy, as the 0.7 and 0.4 in friction coefficient, respectively. In this paper, the test results of the friction coefficients were represented and the improvement method was suggested.

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Motion control of a wheel-chair robot using CDM (계수도법을 이용한 휠체어 로봇의 자세제어)

  • Park, Sung-Jin;Jeong, Sang-Chul;Kim, Gwan-Hyung;An, Young-Joo;Lee, Hyung-Ki
    • Proceedings of the KIEE Conference
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    • pp.2046-2048
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    • 2002
  • In this paper, I designed the inverter pendulum controller to controll the position of a wheel-chair. I used coefficient diagram method (CDM) to design the controller. The CDM is available, because it can make an engineer know all about the characteristic, stability, response time and robustness, of closed loop system. Writing this paper, I simulated the controller to know wheather is can controll the position of wheel-chair using the theorem of inverter pandulum controll, and I identified the usefulness of it.

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