• Title, Summary, Keyword: Loop Wheel

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Building the Test Platform for All Wheel Steering Control System of Bi-Modal Tram (저상 굴절차량 조향 시스템 전자제어장치 테스트 플랫폼 구축)

  • Jo, Chang-Yeon;Lee, Soo-Ho;Moon, Kyung-Ho;Park, Tae-Won;Chung, Ki-Hyun;Choi, Kyung-Hee
    • Proceedings of the KSR Conference
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    • pp.1616-1625
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    • 2007
  • Recently, embedded systems role as control systems instead of mechanical control systems in many parts of vehicles. In cases that embedded systems are used controling the electric signal, it is important to secure the reliability of a software within embedded systems. In this paper, the test platform for securing the reliability and real-time characteristic of the embedded system that controls electric signal of All Wheel Steering Control System in a Bi-modal tram is proposed. The platform is built on a HIL (Hardware In the Loop) architecture. Through the HIL platform, various vehicle conditions, driver activities and environment conditions can be successfully tested without actual driving, hence improving the reliability of the embedded system for the All Wheel Steering Control System.

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A Research on Shifting Controller Development of a Automatic Transmission far Construction Vehicles (건설차량용 자동변속기의 변속제어기 개발연구)

  • 정규홍;이교일
    • Transactions of the Korean Society of Automotive Engineers
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    • v.10 no.2
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    • pp.234-242
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    • 2002
  • In this research, a transmission control unit was developed for a wheel loader on the basis of 16-bit microcontroller system. The TCU has the basic functions which include shifting control algorithm, actuation of six proportional solenoid valves, signal conditioning for four speed sensors, remote data monitoring capability with RF-module and duty cycle identification system which could identify the duty cycles from PWM signals. In order to design the control system, the overall transmission structure of the wheel loader was investigated and its characteristics of shifting were analyzed in advance. For the purpose of identifying the existing control algorithm and acquire some information about the shifting performance, the shifting experiments were performed for various shifting conditions with the conventional TCU. From the previous work on the conventional TCU, the shifting scheme was designed with the open-loop control which is based on the experimental data only to verify the feasibility of the developing TCU's shilling capability. The experimental results show comparable shifting characteristics to that of conventional TCU though the tests were performed at restricted shilling conditions. Hence, we could have the confidence for the development of the wheel loader automatic transmission TCU and its shifting quality could be improved with the adoption of appropriate feedback control scheme.

Generalised Non Error-Accumulative Quantisation Algorithm with feedback loop

  • Koh, Kyoung-Chul;Choi, Byoung-Wook
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1269-1274
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    • 2004
  • This paper presents a new quantisation algorithm which has the closed-loop form and guarantees the boundness of accumulative error. This algorithm is particularly useful for mobile robot navigation that is usually implemented on embedded systems. If wheel commands of the mobile robot are given by velocity or positional increment at every control instant and quantised due to finite word length of controller's CPU, the quantisation error gets accumulated to causes large position error. Such an error accumulative characteristic is fatal for non wheeled mobile robots or autonomous vehicles with non-holonomic constraint. To solve this problem, we propose a non-error accumulative quantisation algorithm with closed-loop form. We also show it can be extend to a generalized form corresponding to the n-th order accumulation. The boundness of the accumulative quantisation error is investigated by a series of computer simulation. The proposed method is particularly effective to precise navigation control the autonomous mobile robots.

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Drowsy Driving Detection Algorithm Using a Steering Angle Sensor And State of the Vehicle (조향각센서와 차량상태를 이용한 졸음운전 판단 알고리즘)

  • Moon, Byoung-Joon;Yeon, Kyu-Bong;Lee, Sun-Geol;Hong, Seung-Pyo;Nam, Sang-Yep;Kim, Dong-Han
    • 전자공학회논문지 IE
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    • v.49 no.2
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    • pp.30-39
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    • 2012
  • An effective drowsy driver detection system is needed, because the probability of accident is high for drowsy driving and its severity is high at the time of accident. However, the drowsy driver detection system that uses bio-signals or vision is difficult to be utilized due to high cost. Thus, this paper proposes a drowsy driver detection algorithm by using steering angle sensor, which is attached to the most of vehicles at no additional cost, and vehicle information such as brake switch, throttle position signal, and vehicle speed. The proposed algorithm is based on jerk criterion, which is one of drowsy driver's steering patterns. In this paper, threshold value of each variable is presented and the proposed algorithm is evaluated by using acquired vehicle data from hardware in the loop simulation (HILS) through CAN communication and MATLAB program.

A Heuristic Approach for Grading Operation of Hydraulic Excavator Systems using SMISMO Valve Configuration (SMISMO 밸브 구조를 채용한 유압식 굴삭기의 평탄화 작업을 위한 휴리스틱 접근)

  • Joh, Joongseon;Hwang, Cheol Min
    • Journal of the Korean Society for Precision Engineering
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    • v.30 no.11
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    • pp.1153-1160
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    • 2013
  • SMISMO valve configuration is now starting to draw attention of the researchers of the construction equipment industry to increase the fuel efficiency of their equipment like excavators and wheel-loaders. An open-loop control strategy for grading operation of hydraulic excavator systems using SMISMO valve configuration is investigated in this paper. Tabor's algorithm for 1 d.o.f. SMISMO system under the assumption of quasi-static operation is revealed as not adequate for multi d.o.f. system with large moment of inertia even though the motion of the system is slow. New parameters are proposed in this paper. It modifies Tabor's open-loop control strategy for the grading operation of hydraulic excavators using SMISMO valve configuration. A simulation-based parameter tuning method is also proposed. It uses GA (Genetic Algorithm) to find the best parameter values. Simulation study for a practical hydraulic excavator shows the validity of the proposed open-loop control strategy.

System Modeling and Simulation for an In-wheel Drive Type $6{\times}6$ Vehicle (인휠드라이브 타입 $6{\times}6$ 차량 플랫폼을 위한 시스템 모델링 및 시뮬레이션)

  • Lee, Jeong-Yeob;Suh, Seung-Whan;Shon, Woong-Hee;Kim, Chang-Jun;Han, Chang-Soo
    • Transactions of the Korean Society of Automotive Engineers
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    • v.19 no.2
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    • pp.1-11
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    • 2011
  • The skid-steering method that applied a number of mobile robot currently is extremely effective in narrow area. But it contains several problems such as its natural properties, slip, occurred by different direction between vehicle's driving and wheel's rotary. Through this paper, suitable control algorithm of $6{\times}6$ skid steering wheeled vehicle and its driving methods are proposed by analyzing the behavior $6{\times}6$ skid-steered wheeled vehicle model designed by engineering analysis strategy. To do this, based on a behavior of designed driving system, required torque and other performance of in-wheel type motor system are considered, and finally control algorithm for each wheel is proposed and simulated using this model. To test the proposed vehicle system, driver model is designed using PID closed loop system and included in the total driving control algorithm. The Performance of designed vehicle model is verified by using DYC (Direct Yaw Control) cornering mode and slip mode control to follow the steering input which are essential to evaluate the driving performance of $6{\times}6$ vehicle. Proposed modeling strategy and control method will be implemented to the real $6{\times}6$ in-wheel drive type vehicle.

A Study on the Improvement of the Load Pressure Feedback Mechanism of the Proportional Pressure Control Valve (비례압력제어밸브의 부하압력 피드백방법 개선에 관한 연구)

  • Oh, In-Ho;Jang, Ji-Seongng;Lee, Ill-Yeong;Chung, Dai-Jong;Cho, Sung-Hyun
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.21 no.5
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    • pp.719-726
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    • 1997
  • The proportional pressure control valve having versatile functions and higher performance is an essential conponent in the open loop controlled rear wheel steering gear of the four wheel steering system in a passenger car. In this study, the authors suggest a new type of load pressure feedback mechanism which can make it easy to change the range of controlled pressure without changing the capacity of solenoid. The concept of suggested mechanism, composed of the pressure chamber with throttles in series, was described. The mathematical model was derived from the rear wheel steering gear consisting of a valve and a cylinder for the purpose of analyzing the valve characteristics. And the programme for computing the characteristic of the valve was developed. Experiments were performed to confirm the performance of the valve and computations were carried out to ascertain the usefulness of the developed programme. The results from computations fairly coincide with those from experiments. And the results from experiments and computations show that the performance of new valve was as good as that of the already developed one and the new valve has advantages such as the easiness of changing the range of controlled pressure and the decrease of power loss at neutral position without the decline of performance.

Performance Evaluation of Steering System for the Bimodal Train by using HILS (HILS를 이용한 바이모달 트램 조향장치 성능 평가)

  • Moon, Kyeong-Ho;Mok, Jai-Kyun;Chang, Seky;Kim, Yeon-Su
    • Proceedings of the KSR Conference
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    • pp.278-283
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    • 2009
  • The bimodal tram with a pivoting joint has difficulty in making a sharp turn because of their long body and wheel base. Therefore, applying AWS(all wheel steering) to the bimodal tram is effective to reduce the turning radius. In the present study, HILS(hardware in the loop simulation) system for the AWS ECU test was developed, which consists of the components used in real vehicles. The data obtained from the HILS system also satisfied the dynamics simulation without any error on the operation control.

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Electronic Control of Braking Force Distribution for Vehicles Using a Direct Adaptive Fuzzy Controller

  • Kim, Hunmo;Kim, Seungdae;Sung, Yoon-Gyeoung
    • Journal of Mechanical Science and Technology
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    • v.15 no.1
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    • pp.66-80
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    • 2001
  • In brake systems, a proportioning valve(P. V), which reduces the brake line pressure on each wheel cylinder for the anti-locking of rear wheels, is closely related to the safety of vehicles. However, it is impossible for current P. V. s to completely control brake line pressure because, mechanically, it is an open loop control system. In this paper we describe an electronic brake force distribution system using a direct adaptive fuzzy controller in order to completely control brake line pressure using a closed loop control system. The objective of the electronic brake force distribution system is to change the cut-in-pressure and the valve slop of the P. V in order to obtain better performance of the brake system than with mechanical systems.

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