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4륜구동·조향 차량의 선회 성능 해석을 위한 Simulation Tool 개발
계경태(K. T. Kye),김준영(J. Y. Kim),허건수(K. S. Huh) 한국자동차공학회 1997 한국 자동차공학회논문집 Vol.5 No.1
In this study, a simulation tool is developed in order to investigate non steady-state cornering performance of 4WD/4WS vehicles. The 4WD/4WS vehicles are modeled as a 8-th order dynamic system which includes complex non-linear vehicle dynamics and tire models. The vehicle models are constructed into a modulated simulation tool and are utilized for analyzing cornering perform-ance such as combined braking and steering, cornering on the icy road and ??-split braking. The whole analysis is done with the simulation tool which consists of a number of subsystems and offers graphic environment. Simulation results show that this tool is useful and cost-effective in the dynamic analysis of the combustion-engine vehicles as well as electrically driven vehicles.
Kalman Filter with Input Estimation을 이용한 타이어 힘 추정
정종철(J.C.Jung),허건수(K.S.Huh) 한국자동차공학회 1998 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1998 No.5_2
On-line and real-time information of the road/tire interaction is the essential factor not only from the vehicle monitoring viewpoint but also for the Advanced Vehicle Control Systems(AVCS)approach. In particular, their interactions are known to be closely related to the tractive ability, handling stability, steerability and braking characteristics of ground vehicles. The key variables representing the interactions can be tire-road friction coefficient and the longitudinal/lateral forces acting on the tires. However, it is not feasible in the operating vehicles to measure those variables directly because of high cost of sensors, limitations in sensor technology, interference with the tire rotation and harsh environment. The Alternative is indirect sensing technique which can estimate the key variables, such as tire forces based on vehicle dynamics models. In this paper, in order to estimate the tire forces, a new monitoring technique, named Kalman Filter with Input Estimation(KFIE), is developed based on the Kalman filter and an adaptive law derived from the Lyapunov stability condition. A 14 DOF vehicle model with the combined-slip Magic Formula tire model is utilized in order to generate true vehicle motion. The lateral forces acting on the tires are estimated using this monitoring technique and its estimation accuracy is compared with the true values.<br/>
김준영(J.Y.Kim),계경택(K.G.Kye),박건선(K.S.Park),허건수(K.S.Huh),장경영(K.Y.Chang),오재응(J.E.Oh) 한국자동차공학회 1996 한국 자동차공학회논문집 Vol.4 No.2
In this paper. dynamic performance of 4WD/4WS Electric-driven vehicles is investigated. A coupled dynamic model is introduced for longitudinal, lateral and yawing motion of 4WD/4WS vehicles. Based on the coupled model, dynamic performance is analyzed for steady-state steering. acceleration steering and brake steering. respectively. These non steady-state cornering analysis is important for non-paved road maneuvering, trajectory projection for armored vehicle and future AVCS(Advanced Vehicle Control System) technology. Simulation results are obtained based on a simulink module for the introduced model.
손원희(W.H Sohn),최진환(J.H. Choi),이순걸(S.G Lee),박동창(D.C. Park),류한식(H.S. Ryu),배대성(D.S. Bae),허건수(K.S. Huh) 한국자동차공학회 2001 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2001 No.5_2
An experimental study of dynamic track tension for high mobility tracked vehicle is investigated and compared to multibody dynamic simulation model. This research focuses on a heavy military tracked vehicle which has sophisticated suspension and rubber bushed track systems in computer model of the track tension. In order to obtain accurate dynamic track tension of track subsystems, each track link is modeled as a body which has six degrees of freedom. A compliant bushing element is used to connect track links. Various virtual proving ground models of Chang-Won proving ground are developed to observe dynamic changes of the track tension. The obtained empirical results of the dynamic track tension are comparcd against the simulation studies. <r.B.7]~%<>1 : Tracked Vehicle{;>~£,"j-"J), Trnck Link(;>~£"83), Dynamic Trnck Tension(%"'1 ;>~£"J-;;:j), Compliant Bushing (%<;! .!J!.>-J), DTJS("J-;;:j ~;;<.j A16 ',iJ)
정종철(J.C.Jung),황정호(J.H.Hwang),김준영(J.Y.Kim),허건수(K.S.Huh) 한국자동차공학회 1997 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1997 No.6_2
On-line and real-time information of the road and tire conditions is the essential factor not only the vehicle monitoring viewpoint but also the Advanced Vehicle Control Systems(AVCS) approach. In particular, the degrees of road-tire interactions are known to be closely related to the tractive ability, handling stability, steerability and braking characteristics of ground vehicles. The key variables representing the interactions can be tire-road friction coefficient and the longitudinal/lateral forces acting on the tires. However, it is not feasible in the operating vehicles to measure directly those variables because of high cost of sensors, limitations in sensor technology and interference with tire rotation. Another approach is the indirect sensing techniques which estimate the key variables,tire forces, based on vehicle dynamics models. In this paper, for estimating the tire forces, two monitoring systems are developed based on the Recursive Parameter Estimator and Extended Kalman Filter. The performance of the two monitoring systems is compared in simulation. A 14 DOF vehicle model with a combined-slip magic formula tire model is utilized in order to generate true vehicle motion.<br/>
황정호(J.H.Hwang),정종철(J.Y.Kim),김준영(J.C.Jung),허건수(K.S.Huh) 한국자동차공학회 1997 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1997 No.11_2
In this study, a PC-based steering simulator is developed such that the steering of the vehicle and the vehicle dynamics program are constructed into the HILS(Hardware-In-the-Loop System). This steering simulator is composed of Hardware(steering wheel, potentiometer, self-aligning BLDC motor, D/A board, Macintosh etc.) and Software(CAPC : Crewman's Associates for Path Control). According to the steering angle input, the vehicle motion is calculated from the software and its animated motion in the roadway scene is displayed on the computer screen. In order to give the realistic feeling to the subject driver, the self-aligning torque is generated through the BLDC motor. The proposed low-cost steering simulator can be very useful for the feasibility study of new steering control algorithms, the driver's steering behavior research and road-departure accident simulations.
홍재희(J. H. Hong),김준영(J. Y. Kim),허건수(K. S. Huh),장경영(K. Y. Jhang),오재응(J. E. Oh) 한국자동차공학회 1997 한국 자동차공학회논문집 Vol.5 No.6
In this study, a simulation tool is developed in order to investigate non steady-state cornering performance of 6WD/6WS special-purpose vehicles. 6WD vehicles are believed to have good per-formance on off-the-road maneuvering and to have fail-safe capabilities. But the cornering perfor-mances of 6WS vehicles are not well understood in the related literature. In this paper, 6WD/6WS vehicles are modeled as a 18 DOF system which includes non-linear vehicle dynamics, tire models, and kinematic effects. Then the vehicle model is constructed into a simulation tool using the MATLAB/SIMULINK so that input/output and vehicle parameters can be changed easily with the modulated approach. Cornering performance of the 6WS vehicle is analyzed for brake steering and pivoting, respectively. Simulation results show that cornering performance depends on the middle-wheel steering as well as front/rear wheel steering. In addition, a new 6WS control law is proposed in order to minimize the sideslip angle. Lane change simulation results demonstrate the advantage of 6WS vehicles with the proposed control law.<br/>