• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.221-232
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• 2020

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.8 s.227
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• pp.1203-1211
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• 2004

A traction control systems (TCSs) composed of either a wheel slip controller or a throttle valve controller or an integrated controller of both systems are proposed in this study. To validatethe dynamic characteristics of a vehicle and TCS, a full car model that can simulate the responses of both front wheel drive (2WD) and four wheel drive (4WD) vehicle is also developed. The wheel slip controller uses a sliding mode control scheme and the throttle valve is controlled by a PID controller. The results shows that tHe brake TCS and the engine TCS achieve rapid acceleration, and reduce slip angle on slippery road. When a vehicle is cornering and accelerating maneuver with the brake or engine TCS, understeer or oversteer occur, depending on the driving conditions. The integrated TCS prevents most of these problems and improves the stability and controllability of the vehicle.

• Journal of Electrical Engineering and Technology
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• v.8 no.3
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• pp.530-543
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• 2013

This paper describes a control scheme of speed sensorless fuzzy direct torque control (FDTC) of permanent magnet synchronous motor for electric vehicle (EV). Electric vehicle requires fast torque response and high efficiency of the drive. Speed sensorless FDTC In-wheel PMSM drives without mechanical speed sensors at the motor shaft have the attractions of low cost, quick response and high reliability in electric vehicle application. This paper presents a new approach to estimate the speed of in-wheel electrical vehicles based on Model Reference Adaptive System (MRAS). The direct torque control suffers in low speeds due to the effect of changes in stator resistance on the flux measurements. To improve the system performance at low speeds, a PI-fuzzy resistance estimator is proposed to eliminate the error due to changes in stator resistance. High performance sensorless drive of the in-wheel motor based on MRAS with on line stator resistance tuning is established for four motorized wheels electric vehicle and the whole system is simulated by matalb/simulink. The simulation results show the effectiveness of the new control strategy. This proposed control strategy is extensively used in electric vehicle application.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.7
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• pp.221-228
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• 1999

A full-time four wheel drive vehicle is driven literally full time by the front and the rear wheels. Front and rear drive shafts are rotated rapidly in the extremely torsional state, which can cause various vibration and noise problems. The purpose of this study is to reduce the vibration and the noise of the full -time four wheel drive vehicle. In this paper, both the causes and the methods for reduction of torsional vibration are suggested. For this study, the characteristics of the torsional vibration are analyzed by free and forced torsional vibration simulation. And this paper described the influence upon the torsional vibration with emphasis shafting system. The validity of simulation models is checked by the field test. The forced vibration simulation with the variations of shaft design factors are performed by the checked models. According to the simulation , the resonance region shifts and the torque fluctuation varies in the system,. Finally, the methods and the effects for the torsional vibration reduction in driveline are proposed.

• Journal of the Korean Institute of Intelligent Systems
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• v.9 no.5
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• pp.480-489
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• 1999

Design and experimental results of yaw rate controller is described for electricallydriven four wheel vehicle without steering mechanism. Yaw rate controller has been known to be necessary to cope with nonlinear char-acteristics of the wheel/road conditions with respect to different road condition and steering angle. For an effective yaw rate control, a fuzzy PID gain scheduler is considered with changing control parameters. In order to apply proposed algorithm to the system a downsized four wheel drive electrically driven vehicle without steering mechanism was manufactured. With these techniques the proposed yaw rate controller is shown by experiment results to be obtained suficient performance in the whole steering regions.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.5
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• pp.512-519
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• 2016

In this study, the tire road friction estimation(TRFE) algorithm for controlling the rear wheel driving force of a 4WD vehicle during acceleration is developed using a standard sensor in an ordinary 4WD passenger car and a speed sensor. The algorithm is constructed for the wheel shaft torque, longitudinal tire force, vertical tire force and maximum tire road friction estimation. The estimation results of shaft torque and tire force were validated using a torque sensor and wheel force transducer. In the algorithm, the current road friction is defined as the proportion calculated between longitudinal and vertical tire force. Slip slop methods using current road friction and slip ratio are applied to estimate the road friction coefficient. Based on this study's results, the traction performance, fuel consumption and drive shaft strength performance of a 4WD vehicle are improved by applying the tire road friction estimation algorithm.

• Journal of KSNVE
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• v.7 no.5
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• pp.853-860
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• 1997

For this study, the multi-degree of freedom analysis model of torsional vibration was developed. This model is combined with mass moment of inertia and torsional spring in two wheel drive and four wheel drive vehicle. We compared and analyzed torsional vibration characteristics by natural frequencies and mode shapes which are obtained by free vibration analysis of this model. And we studied torsional vibration contribution of driveline elements by performing the forced vibration analysis of engine excitation torque. The validity of this model is demonstrated by the field test. The reduction effect of the torsional vibration along the driveline design factor is presented by the analytical results.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1014-1019
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• 2005

In this paper, a neural network technique for automatic steering control of a four wheel drive autonomous highway snowplow vehicle is presented. Controllers are designed by the LQR method based on the vehicle model. Then, neural network is used as an auxiliary controller to minimize lateral tracking error under the presence of load. Simulation studies of LQR control and neural network control are conducted for the vehicle model under a virtual snowplowing situation. Tracking performances are also compared for two and four wheeled steering vehicles.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.6
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• pp.243-251
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• 1998

A method of establishing the tooth modification for gear transmission of vehicles to reduce gear whine noise, caused by tooth impact phenomenon of mating gear, is introduced. The major causes of tooth impact are due to the deflections of gear teeth and shafts of transmission with the loaded condition including various kinds of manufacturing errors. The theoretical shape of tooth surface to avoid tooth impact is derived by the amount of elastic deformation of gear teeth and shaft and overall manufacturing error of machine tool. The surface function is converted with respect to the conventional commercial data usually communicated to the gear inspection system. The proposed method is applied to the gearbox of four wheel drive vehicle and shows the gear whine noise decreased to the 8 dB in the sound level.

• Journal of Drive and Control
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• v.13 no.1
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• pp.10-17
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• 2016

e-4WD(Electric-4WD) system is a 4WD(4-Wheel Drive) System that can transform a car into a Hybrid System. e-4WD consists of a Motor, Inverter, Speed reducer and Clutch. The Motor, Speed reducer and Clutch are installed on the rear sub-frame as a chassis module type. The inverter is installed separately. Compared to a mechanical 4WD, the e-4WD system has many advantages. For example, the reduced number of drivetrain components makes better use of the space. Driving with a motor only at low speed improves fuel economy and reduces exhaust gas. Engine downsizing is available because the motor assists the engine. The performance of a conventional HEV(Hybrid Electric Vehicle) system can also be maintained. This paper proposes the specifications of components and the control logic for an e-4WD System. And the effect of the e-4WD system is proven using a test vehicle equipped with components under various test conditions.