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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.Kim),계경태(K.Kye),박건선(K.Park),허건수(K.Huh),장경영(K.Chang),오재응(J.Oh) 한국자동차공학회 1995 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1995 No.11_1
In this paper, cornering performance of 4WD/4WS special-purpose vehicles is investigated. A 14 DOF model is developed considering nonlinear characteristics of the suspension and tire. Based on the model, cornering performance is analyzed for acceleration steering, brake steering, lane change and pivoting, respectively. Simulation results are obtained based on a SIMULINK module. These non steady-state cornering analysis is particularly important for armored vehicle because the projected route of the vehicle at emergency should be predicted with accuracy.<br/>
4륜구동ㆍ조향 차량의 선회 성능 해석을 위한 Simulation Tool 개발
계경태(G. Kye),김준영(J. Kim),허건수(K. Huh) 한국자동차공학회 1996 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1996 No.6_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 simulation tool and are utilized for analyzing cornering performance such as combined braking and cornering, cornering on the icy road and ??-split braking. The whole process is done with the simulation tool which consists of a number of subsystems with modular approach 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.
김준영(J. Kim),홍재희(J. Hong),허건수(K. Huh),장경영(K. Jang),오재웅(J. Oh) 한국자동차공학회 1996 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1996 No.11_1
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 performance on off-the-road maneuvering and to have fail-safe capabilities. But the cornering performances of 6WS vehicles are not well understood in the related literature. In this paper, 6WD/6WS vehicles are modeled as a 10 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 MA TLAB/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/>