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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
우춘규(C.K.Woo),김경찬(K.C.Kim),김수현(S.H.Kim),곽윤근(Y.K.Kwak),정완섭(W.S.Cheung) 한국자동차공학회 1998 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1998 No.5_2
In the experiments of design, vibration evaluation, and test of vehicles, aircraft, and other mechanisms the development of vibration simulator that serves environment similar to real fields takes lots of advantages. Especially, in the real field test of vehicles it possesses the advantages of showing the dynamic characteristics of the vehicle. In this study, to investigate the validity and fitness of proposed 6DOF parallel link mechanism we simulated that mechanism. <br/>
정완섭,우춘규,박세진,김수현 한국소음진동공학회 1997 소음 진동 Vol.7 No.1
This paper introduces experimental results of the ride qulaity characteristics of automotive seats fixed on the vibration table that is noving simultaneously to the three-axis in a similar way to the real running condition. Vibration experiment was carried out for five different automotive seats and four Korean individuals. The assessment of the ride quality characteristics for each seat and indiviual was made not only from the analysis of vibration measurements but also from the evaluation of weighied vibration signals, which were obtained using the frequency weighting function and the multiplication factor dependent on the position and axis of vibration exposure to wehole-body. The usefulness of those assessment results in analysis of the ride quality of seats is discussed and their limitation is also pointed out in this paper.
반응표면법을 이용한 고속 주행용 실외 경비로봇의 현가장치 근사 최적화
고두열,정해관,우춘규,김수현 한국로봇학회 2010 로봇학회 논문지 Vol.5 No.2
Security robot has gradually developed and deployed in order to protect civilian’s lives as well as fortune and subjugate the shortcomings of CCTV which lacks of mobility. We have developed a security robot for outdoor environment and the main purpose of the driving mechanism is to overcome the bumps or projections with high speed. The robot platform consists of 4 omnidirectional wheel-based driving mechanisms and suspension for each driving mechanism. In this paper, principal suspension parameters of outdoor security robot for overcoming obstacles with stability are studied and approximately optimized using Response Surface Methodology (RSM) since it is difficult to find the exact relationship between suspension parameters and the shock, which is significantly associated with stability of the robot, at the robot platform. Simulation using ADAMS is conducted for assessing the feasibility of optimized design parameters.
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.