$\require{mediawiki-texvc}$
  • 검색어에 아래의 연산자를 사용하시면 더 정확한 검색결과를 얻을 수 있습니다.
  • 검색연산자
검색연산자 기능 검색시 예
() 우선순위가 가장 높은 연산자 예1) (나노 (기계 | machine))
공백 두 개의 검색어(식)을 모두 포함하고 있는 문서 검색 예1) (나노 기계)
예2) 나노 장영실
| 두 개의 검색어(식) 중 하나 이상 포함하고 있는 문서 검색 예1) (줄기세포 | 면역)
예2) 줄기세포 | 장영실
! NOT 이후에 있는 검색어가 포함된 문서는 제외 예1) (황금 !백금)
예2) !image
* 검색어의 *란에 0개 이상의 임의의 문자가 포함된 문서 검색 예) semi*
"" 따옴표 내의 구문과 완전히 일치하는 문서만 검색 예) "Transform and Quantization"
쳇봇 이모티콘
안녕하세요!
ScienceON 챗봇입니다.
궁금한 것은 저에게 물어봐주세요.

논문 상세정보

6WS/6WD 차량의 독립조향 및 구동 제어알고리즘에 관한 연구

A Study on Independent Steering & Driving Control Algorithm for 6WS/6WD Vehicle

Abstract

Multi-axle driving vehicles that are used in special environments require high driving performance, steering performance, and stability. Among these vehicles, 6WS/6WD vehicles with middle wheels have structural safety by distributing the load and reducing the pitch angle during rapid acceleration and braking. 6WS/6WD vehicles are favored for military use in off road operations because of their high maneuverability and mobility on extreme terrains and obstacles. 6WD vehicles that using in-wheel motor can generate the independent wheel torque without other mechanical parts. Conventional vehicles, however, cannot generate an opposite driving force at each side wheel. Using an independent steering and driving system, six-wheel vehicles can show better performance than conventional vehicles. Using of independent steering and driving system, the 6 wheel vehicle can improve a performance better than conventional vehicle. This vehicle enhances the maneuverability under low speed and the stability at high speed. This paper describes an independent 6WS/6WD vehicle, consists of three parts; Vehicle Model, Control Algorithm for 6WS/6WD and Simulation. First, vehicle model is application of TruckSim software for 6WS and 6WD. Second, control algorithm describes the optimum tire force distribution method in view of energy saving. Last is simulation and verification.

참고문헌 (10)

  1. K.-S. Huh, K.-Y. Jhang, J.-E. Oh, J.-Y. Kim, and J.-H. Hong, "Development of a simulation tool for the cornering performance analysis of 6WD/6WS vehicles," KSME(in Korean),, vol. 13, no. 3, pp. 211-220, Mar. 1999. 
  2. C.-J. Kim, J.-H. Jang, S.-N. Yu, S.-H. Lee, C.-S. Han, and J. K. Hedrick, "Development of a control algorithm for a tie-rodactuating steer-by-wire system," IMechE Part D: Journal of Automobile Engineering, vol. 222, no. 9, pp. 1543-1557, Sep. 2008. 
  3. M. Nagai, Y. Hirano, and S. Yamanaka, "Integrated control of active rear wheel steering and direct yaw moment control," Vehicle System Dynamics, vol. 27, pp. 357-370, June 1997. 
  4. O. Mokhiamar and M. Abe, "Simultaneous optimal distribution of lateral and longitudinal tire forces for the model following control," Journal of Dynamic Systems, Measurement, and Control, vol. 126, pp. 753-763, Dec. 2004. 
  5. M. A. Ali, C.-J. Kim, H.-S. Shin, J.-H. Jang, and C.-S. Han, "Study on the characteristics of skid steering for six wheel drive vehicle (6x6)," KSAE Autumn Conference(in Korean), pp. 325, Nov. 2008. 
  6. T. D. Gillespie, Fundamentals of Vehicle Dynamics, SAE, 1992. 
  7. H. Fujimoto, T. Saito, A. Tsumasaka, and T. Noguchi, "Motion control and road condition estimation of electric vehicles with two in-wheel motors," IEEE Int. Conference on Control Applications, pp. 1266-1271, Sep. 2004. 
  8. M. Abe and W. Manning, Vehicle Handling Dynamics Theory and Application, Elsevier, 2009. 
  9. D.-H. Kim, C.-J. Kim, Y.-R. Kim, and C.-S. Han, "A study on an independent 6WD/6WS of electric vehicle using optimum tire force distribution," Journal of Institute of Control, Robotics and System(in Korean), vol. 16, pp. 632-638, July 2010. 
  10. J. Kang, W. Kim, J. Lee, and K. Yi, "Design, implementation, and test of skid steering-based autonomous driving controller for a robotic vehicle with articulated suspension," Journal of Mechanical Science and Technology, vol. 126, pp. 793-800, Mar. 2010. 

이 논문을 인용한 문헌 (2)

  1. Jang, Jae-Ho ; Kim, Chang-Jun ; Kim, Sang-Ho ; Kang, Min-Sung ; Back, Sung-Hoon ; Kim, Young-Soo ; Han, Chang-Soo 2013. "Improvement of the Yaw Motion for Electric Vehicle Using Independent Front Wheel Steering and Four Wheel Driving" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 19(1): 45~55 
  2. Lee, Daeok ; Yeo, Seungtai 2013. "A Study on Maneuvering Control Algorithm Based on All-wheel Independent Driving and Steering Control for Special Purpose 6WD/6WS Vehicles" 韓國軍事科學技術學會誌 = Journal of the KIMST, 16(3): 240~249 

DOI 인용 스타일