• ICROS
• /
• v.1 no.3
• /
• pp.101-108
• /
• 1995

이 글에서는 퍼지제어기의 기본 구성에 대해 간단히 다루고 모델에 근거해 다음 제어상태를 예견해 내는 제어기법인 모델참조 적응을 기반으로 한 적응 퍼지제어에 대해서, 그리고 신경회로망을 이용한 퍼지제어기의 파라미터의 조정과 클러스터링을 통해서 퍼지규칙을 예측하는 적응 퍼지제어기에 대해서 살펴보았다.

• Journal of the korean Society of Automotive Engineers
• /
• v.16 no.3
• /
• pp.19-29
• /
• 1994

본 연구에서는 상태방정식과 출력방정식에 외란항을 포함하게 된다. 최적조건을 이용하여 외란항을 포함한 리카티 방정식을 유도하고 그로부터 제어로직을 얻을 수 있다. 본 연구에서의 차량 모델링은 스프링 위 질량 3자유도와 스프링 아래 질량 4자유도 운전석의 연직방향 1자유도를 포함한 총 자유도의 선형모델로 하였다. 또 본 연구에서는 예견제어를 이용하였는데 차량앞에 미리 도로면의 정보를 인식할 수 있는 가상적인 측정장치가 있다고 가정하였다. 결과에서는 기존의 수동형 현가장치와 최적제어를 이용한 능동형 현가장치를 구분하고, 예견시간에 따른 차량의 성능을 비교 분석하였다.

• Journal of Drive and Control
• /
• v.14 no.2
• /
• pp.9-15
• /
• 2017

The steering systems of all-terrain cranes have been developed with various control strategies for the stability and drivability. To optimally control the input steering angle, an accurate mathematical model that represents the actual crane dynamics is required. The derivation of an accurate mathematical model to optimally control the steering angle, however, is difficult since the steering-control strategy generally varies with the magnitude of the crane's longitudinal velocity, and the postures of the crane's working parts vary while it is being driven. To address this problem, this paper proposes an automatic steering-control algorithm that is based on the MPC (model predictive control) with a disturbance observer for all-terrain cranes. The designed disturbance observer of this study was used to estimate the error between the base steering model and the actual crane. A model predictive controller was used for the computation of the optimal steering angle, along with the use of the base steering model with an estimated uncertainty. Performance evaluations of the designed control algorithms were conducted based on a curved-path scenario in the Matlab/Simulink environment. The performance-evaluation results show a sound reference-path-tracking performance despite the large uncertainties.

• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.855-860
• /
• 2007

This paper describes a human driver model developed based on finite preview optimal control method. The human driver steering model is constructed to minimize a performance index which is a quadratic form of lateral position error, yaw angle error and steering input. Simulation studies are conducted using a vehicle simulation software, Carsim. The Carsim vehicle model is validated using vehicle test data. In order to validate the human driving steering model, the human driver steering model is compared to the driving data on a virtual test track(VTT) and the actual vehicle test data. It is shown that human driver steering behaviors can be well represented by the human driver steering model presented in this paper

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.19 no.5
• /
• pp.160-166
• /
• 2018

This paper proposes an advanced suspension system and reports its performance in the framework of the preview control algorithm based on the RPS (road profile sensing) system and MSD system with the multi-stage damping characteristics. Typical disturbance inputs that cause excessive vibration and steering instability of an automobile are irregular obstacles that protrude or sink into the road surface to be driven. The control performance can be improved if information on the existence and shape function of its obstacle is known. Based on the results of the previous study, advanced research that uses the actuating system has been processed to be commercialized practically. For this purpose, a switching algorithm between the control logic and the multi-stage damping system was developed and its connectivity is presented. To verify the applicability of an actual vehicle, the proposed control system was implemented in full vehicle models and simulations were performed. The proposed system using the 3-DS actuator system, which is applied for structural simplicity, can improve the ride comfort and steering stability. In addition, the results indicate the feasibility of the intelligently controlled suspension system.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.4
• /
• pp.15-26
• /
• 1998

Full car model is needed for investigating as a entire dynamics of vehicle. In this study, 7DOF of full car model's dynamics is selected. This paper proposes the output feedback controller based on optimal control theory. Input data and output data from the optimal controller are used for neural network system identification of the suspension system. To do system identification, neural network which has robustness against nonlinearities and disturbances is adapted. This study uses back-propagation algorithm to train a multil-layer neural network. After obtaining a neural network model of a suspension system, a neuro-controller is designed. Neuro-controller controls suspension system with off-line learning method and multistep ahead prediction model based on the neural network model and a neuro-controller. The optimal controller and the neuro-controller are designed and then, both performances are compared through. For simulation, sinusoidal and rectangular virtual bumps are selected.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.6
• /
• pp.431-437
• /
• 2017

In this study, based on the RPS algorithm, the application results to an electrically controlled suspension system using previewed road information are presented. Reducing the excessive vibration induced by a disturbance transmitted to the system and secure its stability is a major issue. In particular, in the automotive industry, the demand is constantly being raised. A typical external disturbance causing vibration and instability of a vehicle is an irregular roadway surface that contacts a running vehicle tire. Therefore, obtaining such profile information is an important process. The RPS algorithm using a multi sensor system was constructed and implemented in a real car. Through experimental work using the RPS system included non-contact type optical sensors, it could robustly reconstruct the road input profiles from the intermixed data onto the vehicle's dynamic motion while traveling at an uneven roadway surface. A controller with a preview control was designed in the framework of a semi-active suspension system based on the 7 degrees of freedom full vehicle model. The control performance of the system was evaluated through simulations and the results were compared with the passive vehicle condition. These results highlight the feasibility of the presented control frame.

• Journal of Korea Technology Innovation Society
• /
• v.14 no.1
• /
• pp.85-108
• /
• 2011

Under Ford system, corporations sought to maximize the economies of scale by raising the production efficiency. It aims to lower the production cost by increasing the quantity of output. But in the era of market flux and uncertainty, however, such strategies can no longer be sustained. Replacing the structures of Ford system, Toyota was able to accelerate the pace of process innovation and product innovation. Related to this innovation is JIT, new model development, modularization. The firm's reliance on flexible production technology provides opportunities to expand her production basis to foreign countries successfully. The main objective of this paper is to explore the contribution of process innovation to profit-capital ratio. The model is estimated using a time-series data of 18 years from 1990 to 2007 of auto production industry in korea. An Implication of this estimation shows that process innovation explains a significant portion of profit-capital ratio.

• Proceedings of the Korean Vacuum Society Conference
• /
• 2000.02a
• /
• pp.103-103
• /
• 2000

강한 결정 방향 의존성과 낮은 항정계를 갖는 Bi4Ti3O12 강유전체 박막은 NDRO형 비휘발성 강유전체 메모리 분야에서 매우 유망한 재료이다. 이를 위해서는 실리콘 기판과의 계면조절과 실리콘 기판성에서 고품질의 강유전성 박막을 성장시키는 기술이 필수적이다. MOCVD에 의한 Bi4Ti3O12 의 증착에서는 Bi 성분의 강한 휘발 특성과 낮은 반응성으로 인하여 조성과 두께 등의 조절이 매우 어렵다. 따라서 화학기상증착의 기구를 이해하고 제어하는 기술이 양질의 박막을 얻는데 필수적이다. 본 연구에서는 유기금속 원료 TPB, TIP 과 산소를 이용하여 실리콘 기판위에 Bi4Ti3O12 강유전체 박막을 증착할 때, 증착 변수의 변화에 따른 박막의 증착 거동과 구조적, 전기적 특성을 연계하여 분석하였다. 특히 기판부착력이 낮고 휘발성이 강한 Bi의 특성으로 인한 문제를 개선하기 위하여 TIP원료를 주기적으로 공급, 중단을 반복하는 펄스주입법을 고안하여 그 효과를 살펴보았다. 실리콘 기판위에서 TiO2의 증착속도는 실험온도 영역에서 온도에 따라 변화하지 않는 전형적인 물질 전달에 의해 지배되는 양상을 나타내었다. 반면 Bi2O3 경우에는 50$0^{\circ}C$ 이상에서 급격하게 증착속도가 감소하는 특이한 경향을 나타내었으며 이는 Bi2O3의 높은 휘발성 때문일 것이다. Bi4Ti3O12 박막은 온도증가에 따라 증착속도가 증가한 후 $600^{\circ}C$ 이상에서 포화되는 경향을 보였다. 이로부터 실리콘 기판위에서의 Bi4Ti3O12 박막의 증착 모델을 제시하였다. Bi2O3에 비해 상대적으로 표면 부착력이 월등히 큰 TiO2가 우선적으로 실리콘 펴면에 형성된 후 TPB 유기금속 원료가 이 TiO2와 반응하는 과정으로 Bi4Ti3O12 박막이 증착된다. $600^{\circ}C$이상에서는 증착 변수들을 바꾸어도 물성이 변하지 않는 자기조절기능이 있음을 알 수 있었는데 이는 고온에서의 Bi2O3의 강한 휘발성 때문일 것이다. 실리콘 기판에서 층상 페로브스카이트 상은 58$0^{\circ}C$ 이상에서 형성되며, 매우 좁은 온도 변화에도 결정구조, 박막현상 및 성분이 크게 바뀌는 온도에 민감한 증착거동이 관찰되었다. 증착 모델에서 예견되는 Bi의 불리함을 개선하기 위해 펄스주입법을 실시한 경우 Bi의 성분량이 증가되었고 결정성이 향상되었다. 이로부터 펄스주입법이 박막내에 부족하기 쉬운 Bi를 보충하여 박막의 특성을 개선함을 확인하였다. Bi4Ti3O12 박막의 증착온도에 따른 누설전류 특성 측정 결과 증착온도가 감소할수록 누설전류가 감소함을 알 수 있었고 펄스주입법이 연속주입법보다 더 낮은 누설전류를 보임을 알았다. 펄스주입법의 경우 -2.5V 인가 시의 누설전류는 7.4$\times$10-8A/cm2에서 1.3$\times$10+7A/cm2의 매우 우수한 값을 가졌다. 연속 주입법에 의해 증착된 박막은 C-V 측정 결과 강유전성 이력이 나타나지 않았으나, $600^{\circ}C$ 이상에서 펄스주입법에 의해 증착된 박박은 강유전성 이력을 나타내었다.