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허건수,홍대건,서문석,서일성,Heo, Geon-Su,Hong, Dae-Geon,Seo, Mun-Seok,Seo, Il-Seong 대한기계학회 2000 大韓機械學會論文集A Vol.24 No.10
In this paper, track tension estimation methods are developed for tracked vehicles which are subject to various maneuvering tasks such as longitudinal driving on sloping and/or rough roads. The information of the track tension is very important for the tracked vehicles because the track tension is closely related to the maneuverability and the durability of the tracked vehicles. A modified 3 DOF dynamics model is derived for the tracked vehicles and is utilized for estimating the tractive force and track tension for the longitudinal driving case. The tension estimation performance of the proposed methods is verified through the simulation of the Multi-body Dynamics tool. The simulation results demonstrate the effectiveness of the proposed method under various maneuvering tasks of the tracked vehicles.
허건수,조병희,서문석,서일성,박동창,Heo, Geon-Su,Jo, Byeong-Hui,Seo, Mun-Seok,Seo, Il-Seong,Park, Dong-Chang 대한기계학회 2000 大韓機械學會論文集A Vol.24 No.6
The track tension is closely related to the maneuverability of tracked vehicles and the durability of tracks and suspension systems. In order to minimize the excessive load on the tracks and to pre vent the peal-off of tracks from the road wheels, it is required to maintain the optimum track tension throughout the maneuver. However, the track tension cannot be easily measured due to the limitation in the sensor technology, harsh environment, etc. In this paper an indirect track tension monitoring system is developed based on idler assembly models, a geometric relation around the idler, and the tractive force estimated by using the Extended Kalman Filter. The performance of the tension monitoring system is verified with the results obtained from the Multi-Body Dynamics model.
고유구조를 이용한 다중출력 시스템의 강인한 관측기 설계
허건수,남준철 한국공작기계학회 2003 한국공작기계학회 춘계학술대회논문집 Vol.2003 No.-
It was shown that the robustness of deterministic observers with respect to modeling errors, measurement bias and round-off errors can be represented by a single performance index, the condition number of the observer eigenvector matrix. In this paper, a robust observer for multi-output systems is designed using the left eigenstructure assignment, where the observer gain can not be determined uniquely with respect to the desired observer poles. Utilizing the eigenstructure assignment for the robustness of the observer, the desired eigenvector matrix is selected to achieve the observer eigenvector matrix with the small condition number. The performance of the designed robust observer is evaluated in a spindle-drive simulation example where the load speed to be estimated based on the measured signals.
궤도차량의 동적 궤도장력 조절시스템을 위한 유압시스템의 동적 모델링
허건수,임훈기,서문석 한국공작기계학회 2003 한국공작기계학회 춘계학술대회논문집 Vol.2003 No.-
DTTS(Dynamic Track Tensioning System) system requires robust control performance for the various maneuvering tasks. However, it is very difficult to tune the controller gains in experiments. In this paper, the hydraulic unit is modeled and constructed into the DTTS control module in Matlab/Simulink. The control module is interfaced to the vehicle dynamics module so that the control performance of the DTTS system can be evaluated in simulations. The dynamics data and control input data are exchanged between two modules at each control time-step. The gains in the fuzzy-logic controller are varied and the control performance is evaluated in simulations. The proposed simulation tool can be very useful for the gain tuning of track tension controller in tracked vehicles