公开(公告)号：KR101533312B1

公开(公告)日：2015-07-03

申请号：KR1020130013931

申请日：2013-02-07

Applicant: 국방과학연구소

Inventor： 류선열 ,  강신천 ,  이상훈 ,  황성일

IPC: B60L3/00 ,  B60L11/18 ,  B60L7/00 ,  B60K28/16

CPC classification number: Y02T10/7005

Abstract: 본발명의무인원격차량에는제동제어장치가구비되고, 제동제어장치가경사지에서또는평지에서필요시제동시스템을통해차량을정지하려고할 때유압브레이크의일정압을체크하여모터의제어모드를기존의속도모드에서토크모드로변경하며, 다시일정속도이하를체크하여그 이하에도달하면곧바로모터의제어모드를토크모드에서속도모드로재 변경하는일련의제동제어를구현함으로써, 모터브레이크힘으로경사로에서차량밀림을최소화또는방지하는특징을갖는다.

公开(公告)号：KR1020140100772A

公开(公告)日：2014-08-18

申请号：KR1020130013931

申请日：2013-02-07

Applicant: 국방과학연구소

Inventor： 류선열 ,  강신천 ,  이상훈 ,  황성일

IPC: B60L3/00 ,  B60L11/18 ,  B60L7/00 ,  B60K28/16

CPC classification number: Y02T10/7005 ,  B60L11/18

Abstract: An unmanned ground remote vehicle of the present invention includes a break control device. Constant pressure of a hydraulic brake is checked and the control mode of a motor is changed from an existing velocity mode to a toque mode, when the break control device allows a break system to stop a vehicle in a slope or flatland in case of necessity. The control mode of the motor is changed again from a toque mode to a velocity mode, when checking and reaching the constant velocity or less again, thereby minimizing and preventing the vehicle from being pushed in the slope by a motor break force.

Abstract translation: 本发明的无人地面遥控车辆包括断路控制装置。 检查液压制动器的恒定压力，并且当断路控制装置允许断裂系统在必要时在斜坡或平坦地方停车时，马达的控制模式从现有速度模式改变为转矩模式。 当检查并达到等速或更小时，电动机的控制模式从转矩模式再次改变到速度模式，从而最小化并防止车辆通过电动机断裂力被推入斜坡。