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강옥현(Okhyun Kang),박영진(Youngjin Park),박윤식(Younsik Park),서문석(Moonsuk Suh) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
It is expected for tracked vehicles to travel up to 60㎞/h in 2010. Tracked vehicles mainly run on the irregular road surfaces. Irregularity of road surface can make severe vibration of chassis. Excessive vibration of chassis deteriorates ride comfort, shooting accuracy during traveling, road holding and life span of electronic equipment. Therefore, to improve these performances, preview control is used. Because semi-active suspension can make a limited performance, active suspension unit will be employed. In previous research, preview control was applied assuming constant speed of vehicles. However, to apply preview control to the vehicle practically, it has to make a satisfactory performance under speed varying condition. To do so, preview control which can be applicable under speed varying condition will be proposed.
센서 잡음이 존재하는 경우의 궤도 차량에 대한 예견 제어
유성필(Seongpil Ryu),박영진(Youngjin Park),박윤식(Younsik Park),서문석(Moonsuk Suh) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
In this paper, a reference model tracking preview controller is designed for nonlinear tracked vehicle systems. The reference model to be tracked consists of observer-based preview controller and linear tracked vehicle model. The observer based preview controller is an optimal controller at noisy environment such as system and sensor noises. The linear tracked vehicle model is modified to use a rate of vertical road elevation as preview information. Commercial program model is used to verify the control algorithm. The performance of the preview control system is evaluated on the ride quality which is estimated from the acceleration of the driver's position.
강옥현(Okhyun Kang),박영진(Youngjin Park),박윤식(Younsik Park),서문석(Moonsuk Suh) 한국자동차공학회 2008 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Preview control is to use forward road information acquired from preview sensors in designing a controller. Preview control which is composed of feedback and feed-forward input can lead to better performance than feedback control alone. Application of the preview control based on the active suspension to tracked vehicles will be introduced. In previous papers of mine, preview controllers which include actuator dynamics and linear interpolation technique of acquired road information to compensate for varying speed of vehicles respectively were designed. In this paper, design of 3D. preview control and its application to a 3D. tracked vehicle model will be covered. Moreover, generation of preview information during turning motion will be described. From simulation results using a special road condition, RRC 9, performance enhancement will be shown using ISO 2631 in terms of ride comfort under assumption that actuators are ideal and the velocity of the vehicle is constant. Finally, based on the analysis of turning motion in steady state along circular path, a method to reduce the error between preview information and traveling trajectory for each road wheel will be suggested.
유성필(Seongpil Ryu),박영진(Youngjin Park),박윤식(Younsik Park),서문석(Moonsuk Suh) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6
As the tracked vehicle’s running speed is increasing, undesirable vibration could become unbearable particularly in the case of field running. The preview controller is designed to improve the performance of tracked vehicle system. In this paper, a proper preview controller is proposed for nonlinear tracked vehicle systems. The LQ preview control, robust preview control and reference model tracking preview control algorithm are designed for the tracked vehicle system. Commercial program model including track and nonlinear components is used to verify the control algorithm.