Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Speed Error Compensation of Electric Differential System Using Neural Network

신경망을 이용한 전기차동차의 속도오차 보상

  • 유영재 (목포대학교 제어계측공학과) ;
  • 이주상 (전남대학교 전기공학과 및 지역협력연구센터) ;
  • 임영철 (전남대학교 전기공학과 및 지역협력연구센터) ;
  • 장영학 (목포대학교 제어계측공학과) ;
  • 김의선 (서남대학교 전기전자멀티미디어공학부) ;
  • 문채주 (목포대학교 전기공학과)
  • Published : 2001.01.01
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Abstract

This paper describes a methodology using neural network to compensate the nonlinear error of deriving speed for electric differential system included in electric vehicle. An electric differential system which drives each of the left and right wheels of the electric vehicle independently. The electric vehicle driven by induction motor has the nonlinear speed error which depends on a steering angle and speed command. When a vehicle drives along a curved road lane, the speed unblance of inner and outer wheels makes vehicles vibration and speed reduction. To compensate for the speed error, we collected the speed data of the inner wheel and outer wheel in various speed and the steering angle data by using an manufactured electric vehicle and the real system. According to the analysis of the acquisited data, we designed the differential speed control system based on a speed error compensator using neural network.

Keywords

References

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