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[차량운동성능부문] 불규칙한 노면을 주행하는 승용차의 동적특성 해석 및 승차감 향상에 관한 연구
우춘규(Chun-Kyu Woo),김수현(Soo-Hyun Kim),곽윤근(Yoon-Keun Kwak) 한국자동차공학회 2001 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2001 No.11_2
In this work, for estimating the dynamic behavior of the vehicle and the factors which influence the ride quality, system modeling is induced By using the PSD of the regular and irregular roadway roughness function in H Company's General Driving Test Center, which is regarded as the input function of the system, dynamic behavior of the system are analyzed in both time domain and frequency domain. And by comparing the results of the theoretical analysis and that of experiments, the validity of the modeling is proved. In addition, the improvement of the dynamic behavior of the system is discussed in terms of the variation of the system parameters which are directly connected with ride quality
각가속도 변화에 의해 탐지된 슬립에 기반한 주행로봇의 견인력 제어
최현도(Hyun Do Choi),우춘규(Chun Kyu Woo),강현석(Hyun Suk Kang),김수현(Soohyun Kim),곽윤근(Yoon Keun Kwak) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.2
The common requirements of rough terrain mobile robots are long-term operation and high mobility in rough terrain to perform difficult tasks. In rough terrain, excessive wheel slip could cause an increase in the amount of dissipated energy at the contact point between the wheel and ground or, even more seriously, the robot could lose all mobility and become trapped. This paper proposes a traction control algorithm that can be independently implemented to each wheel without requiring extra sensors and devices compared with standard velocity control methods. The proposed traction algorithm is analogous to the stick-slip friction mechanism. The algorithm estimates the slippage of wheels by angular acceleration change, and controls the increase or decrease state of torque applied to wheels Simulations are performed to validate the algorithm. The proposed traction control algorithm yielded a 65.4% reduction of total slip distance and 70.6% reduction of power consumption compared with the standard velocity control method.
[차량운동성능부문] 계단 적응에너지 최소화를 위한 T형 트랙 설계
이청희(Cheong Hee Lee),우춘규(Chun-Kyu Woo),김한호(Han Ho Kim),곽윤근(Yoon Keun Kwak) 한국자동차공학회 2000 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper introduces a new T-type track for variable configuration tracked vehicle(VCTV) that is developed to improve the adaptability to the recondite environment and reduce the consumptive energy in motion. In spite of increasing the energy consumption compared with the wheeled or legged vehicles, many of VCTV have been developed due to the adaptability to the cluttered environment. But Most of VCTV have additional mechanism and power to reconfigure the track according to the environment interacting with the VCTV. We proposed the new T-type VCTV that has the adaptability to the environment but no mechanism attendant on changing the configuration of track. This mechanism has four T-type frame encircled with track, which is rotating by the angle corresponded with external force/torque created when the VCTV contacts the environment. Additionally, we optimized the design parameters of components determining the shape of T-type frame to enhance the performance of climbing stairs used in most buildings.
[차량운동성능부문] 바퀴형 주행 로봇의 계단 등반 능력 분석
김연훈(Yeon Hoon Kim),장준현(Joonhyun Jang),이청희(Cheong Hee Lee),우춘규(Chun-Kyu Woo),김문상(Mun Sang Kim),곽윤근(Yoon Keun Kwak) 한국자동차공학회 2000 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
The application area of mobile robot is getting wider with the technology. Accordingly mobile robot is needed to use in the rough environment So, it is necessary for mobile robot to be able to navigate and cope with bad conditions when it is placed in rough environment. In this paper, a new type of six-wheeled mobile robot which enable to navigate rough road is developed. Stairs especially among the rough road environment are selected to analyze the ability of overcoming the worst case of stair climbing through the navigation. Since there is no sensor required to discriminate between stairs and floors, the reliability for extreme condition and energy efficiency is high. By these advantages, it will be applicable to reconnaissance and mine detection in military use, and fIre repression and pollution investigation in civil use.