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경쟁차 R&H 성능 달성을 위한 감쇠력 설계 기준에 대한 연구
문하경(Hakyung Moon),정홍규(Hongkyu Jung) 한국자동차공학회 2017 한국자동차공학회 학술대회 및 전시회 Vol.2017 No.11
We have used the initial S/ABS damping force referring to previous models or the competitive cars. Vehicle test teams have depended on trial & error to fix damping force, which results too much time to fix damper and that delays the vehicle development. To predict damping force is not only to improve vehicle R&H performance efficiently but also to reduce the tuning time. Through this study, suspension designers can design damping forces and add them on drawings before producing prototype vehicles.
문하경(Hakyung Moon),이병림(Byungrim Lee),김효석(Hyoseok Kim) 한국자동차공학회 2012 한국 자동차공학회논문집 Vol.20 No.5
CTBA(Coupled Torsion Beam Axle) has been adapted as the rear suspension of a compact car. Because that has the advantage of cost and weight in comparison with multi-link type. But CTBA has the disadvantage in vehicle stability to become oversteer occurring toe-out of the rear wheel when cornering and braking. In this study, we suggested CTBA Geometry Compensation System to overcome the disadvantage of CTBA. We predicted braking and cornering vehicle performance from proposed equation and numerical simulation. And also, the results were compared to objective and subjective evaluation in vehicle.
파라메트릭 기법을 사용한 로봇링크 설계변경의 일괄처리 적용연구
박태원,문하경,정일호,서종휘,김혁,최용원,최재락,Park Tae Won,Moon Ha Kyung,Jung Il Ho,Seo Jong Hwi,Kim Hyuk,Choi Yong Won,Choi Jae Rak 한국시뮬레이션학회 2005 한국시뮬레이션학회 논문지 Vol.14 No.1
We developed the module of the software that robot designers can perform their work faster and more easily. The parametric modeler is founded on the virtual robot design program. The virtual robot design program is the powerful software which may be used to solve various problems of robot kinematics and dynamics. The parametric modeler in the software we developed is that all the positions of joints and links are changed automatically when the designer changes one joint or one link in the robot system. Without parametric method, robot-designers must change all the positions of connected joints and links. It might become time-consuming. However, it is very efficient for designers to use the method of batch-processing in performing design-changes of robot-links using the parametric modeler.
정일호(IlHo-Jung),문하경(HaKyung-Moon),박태원(TaeWon-Park),김혁(Hyuk-Kim),이형(Hyung Lee),박중경(JoongKyung-Park) 한국자동차공학회 2005 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2005 No.5_2
In this study, OHT dynamic model was developed by using the multi body dynamic analysis program ADAMS. Wheel and roller are modeled by the 3-D surface contact module. Especially, motor cycle tire mechanics is used in the wheel contact model. The OHT dynamic model can analyze the dynamic characteristic of the OHT vehicle with various driving conditions. And the result was verified by a vehicle traveling test. As a result of this study, the developed model is expected to predict wheel dynamic load time history and makes a contribution to design of a new monorail vehicle.
4륜 독립 조향 및 구동 차량의 슬라이딩 모드 관측기 기반 고장 탐지 및 적응형 고장 허용 적분 제어 알고리즘 개발
장문정,김세환,라한별,정진현,성민상,김정호,문하경,오광석 한국자동차공학회 2023 한국 자동차공학회논문집 Vol.31 No.10
In this paper, the sliding mode, observer-based fault detection and the gradient descent method-based, adaptive, fault-tolerant integral control algorithm have been proposed in four-wheel, independent steering and driving vehicles. The sliding mode observer was designed to estimate the uncertainty of driving systems that use injection terms. To guarantee fault detection in a driving system, the relative errors in injection terms have been used with a threshold approach. The virtual relationship function, which consists of control error and sensitivity coefficients, has been designed, and sensitivity coefficients have been estimated by using the recursive least squares method. Based on the estimated sensitivity coefficients, integral gains have been adapted by using the gradient descent method, and were allocated by computing the vertical tire force for the adaptive integral torque control of each wheel. Then, a performance evaluation has been conducted on straight and turning driving scenarios by using the Matlab/Simulink and CarMaker co-simulation techniques under the driving system fault condition.