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독립 전륜 조향 및 4 륜 구동을 이용한 전기 차량의 선회 운동 향상
장재호(Jae-Ho Jang),김창준(Chang-Jun Kim),김상호(Sang-Ho Kim),강민성(Min-Sung Kang),백성훈(Sung-Hoon Back),김영수(Young-Soo Kim),한창수(Chang-Soo Han) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.1
With the recent advancement of control method and battery technology, the electric vehicle have been researched to replace the conventional vehicle with electric vehicle with the view point of the environmental concerns and energy conservation. An electric vehicle which is equipped with the independent front steering system and in-wheel motors has advantage in terms of control. For example, the different torque which generated by left and right wheels directly can make yaw moment and the independent steering using outer wheel control is able to reduce the sideslip angle. Using of independent steering and driving system, the 4 wheel electric vehicle can improve a performance better than conventional vehicle. In this paper, we consider the method for improving the cornering performance of independent front steering system and in-wheel motor used electric vehicle with the compensated outer wheel angle and direct yaw moment control. Simulation results show that the method can improve the cornering performance of 4 wheel electric vehicle. We also apply the steering motor failure to steer the vehicle turned by the torque difference without steering. This paper describes an independent front steering and driving, consist of three parts; Vehicle Model, Control Algorithm for independent steering and driving and simulation. First, vehicle model is application of TruckSim software for independent front steering and 4 wheel driving. Second, control algorithm describes the reduced sideslip and direct yaw moment method in view of cornering performance. Last is simulation and verification.
유병갑(Byung-Gap Ryu),박동진(Tong-Jin Park),한창수(Chang-Soo Han),박진규(Jin-Kyu Park),이정엽(Jung-Yup Lee),백성훈(Sung-Hoon Back) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.11
Mechatronics is a synthesis of mechanical and electronic domains that overlap in the design. A UGV (Unmanned Ground Vehicle) is a smart product that has mechatronics blended into its design configuration. This study shows the design and development for an UGV and OCU(Operating Control Unit). The UGV frame which has a 4-Wheel-driven mechanism and diesel source was used in this study. The actuators as control inputs of the UGV are a steering wheel actuator, an acceleration-breaking actuator and gear actuators.