• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2277-2279
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• 2001

This paper describes a vision-based steering control method for AGV which use dual motor drive. We suggest an algorithm which can be detect the guideline quickly and exactly for real time vision processing, and control the steering through an assign the CP (Control - Point) of input image. This method is tested via a IAGV which dual motor drive with a single camera in laboratory environment.

• 한국산학기술학회논문지
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• 제11권8호
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• pp.2975-2982
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• 2010

본 논문에서는 모델기반 설계를 이용한 이륜 도립진자 로봇의 설계방법에 대해 제시한다. 임베디드 시스템의 제어 프로그램 설계는 MATLAB/SIMULINK를 사용한 모델기반 설계에 의해 간편하고 손쉽게 구현되었으며, 로봇은 NXT 마인드스톰, 서보 직류전동기, 초음파센서, 자이로센서, 광센서로 구성되었다. 이 로봇은 불안정한 비선형시스템이며 몸체 경사각 제어문제를 가지고 있는데, 제어기 설계는 상태궤환 LQR 제어를 이용하였다. 타겟이 되는 프로세서에 종속적이지 않은 모델기반 설계는 문서기반 설계보다 프로그램 개발, 오류 발견 및 수정, 소프트웨어 구조 파악의 측면에서 장점을 가지고 있음을 제어기 설계와 실험을 통해서 확인할 수 있었다.

• 대한교통학회지
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• 제35권1호
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• pp.25-36
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• 2017

본 연구는 이륜자동차의 안전검사제도가 도입될 경우 교통사고 절감효과에 관한 분석을 다루고 있다. 이를 위하여 우선, 독일 차량 및 운전자 연방국의 차령별 결함률을 이용하여 국내 차령별 이륜자동차 결함대수를 추정하고, 도로교통공단의 4년간 차량결함에 따른 사고건수 자료를 바탕으로 차량결함으로 인한 교통사고 확률을 산정한 뒤, 검사제도로 인한 차량결함 제거비율을 적용하여 검사제도 도입으로 인한 교통사고 감소건수 및 감소된 교통사고비용을 추정하였다. 배기량별 제도도입을 가정하여 시나리오를 구분하여 분석하였는데, 전체 이륜자동차를 대상으로 안전검사제도를 도입 할 경우 교통사고 642건/연 및 교통사고비용 325억 원/연이 감소되는 것으로 분석되었다. 이는 2014년 국내교통사고비용 26조 5,725억 원/연의 약 0.1%에 해당되는 수준으로 이륜자동차 안전검사제도 도입 시 차량적 요인으로 인한 교통사고 및 교통사고비용이 감소되는 기대효과를 제시하였다.

• 제어로봇시스템학회논문지
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• 제11권9호
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• pp.761-767
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• 2005

There exists a structural limit of 2WS cars that drivers would not like simultaneously to follow the desired path and attenuate moments resulting from disturbances because lateral acceleration and yaw rate are coupled inherently. In order to overcome the limit, the 4WS cars that have rear wheel steering as an additional input have been introduced. But the 4WS cars have disadvantages that much cost is required due to structural alteration, it is difficult to be used to the driving circumstances and tire performances are not efficient in nonlinear or large lateral acceleration ranges. Therefore, it is proposed that, in this paper, a robust controller is easy to apply to 2WS cars by using direct yaw moment, decouples lateral acceleration from yaw motion and is robust against disturbances and uncertainties of system parameters, and thus the proposed control method has the advantages of 4WS cars which can be achieved in 2WS cars.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.678-683
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• 2004

In this study, a experiment has been developed for measuring the exhaust pressure of muffler at inlet and outlet. The main experimental parameters were a engine speed and sound absorbing material in the muffler. The muffler sound absorbing material tested a steel wool and glass wool. The exhaust pressure was measured with pressure sensor. The phase of exhaust pressure with high speed was moved according to increasing engine speed comparing with exhaust pressure with low speed. Also, the distribution of exhaust pressure at the model-1, 2 and 3 are similar with distribution of exhaust pressure at muffler inlet.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2006년도 전기학술대회논문집
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• pp.85-86
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• 2006

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundary function is proposed and applied to a two-wheeled voiding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the new sliding is proposed to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system will be shown through the Lyapunov method. The simulations is shown to prove the effectiveness of the proposed controller.

• 로봇학회논문지
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• 제8권2호
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• pp.67-74
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• 2013

This paper presents interaction force control between a balancing robot and a human operator. The balancing robot has two wheels to generate movements on the plane. Since the balancing robot is based on position control, the robot tries to maintain a desired angle to be zero when an external force is applied. This leads to the instability of the system. Thus a hybrid force control method is employed to react the external force from the operator to guide the balancing robot to the desired position by a human operator. Therefore, when an operator applies a force to the robot, desired balancing angles should be modified to maintain stable balance. To maintain stable balance under an external force, suitable desired balancing angles are determined along with force magnitudes applied by the operator through experimental studies. Experimental studies confirm the functionality of the proposed method.

• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.826-832
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• 2016

A two-wheeled balancing mobile robot (TWBMR) has the characteristics of both nonlinear and underactuated system. In this paper, the disturbances acting on a TWBMR are classified into body disturbance and wheel disturbance. Additionally, we describe a nonlinear disturbance observer, which is suitable as a single input multi-output (SIMO) system for the longitudinal motion of TWBMR. Finally, we propose a reasonable disturbance compensation technique that combines the indirect reference input of equilibrium point and the direct torque compensation input. Simulations and experimental results show that the proposed disturbance compensation method is an effective way to achieve robust postural stability, specifically on inclined terrains.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.40-45
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• 2016

This paper presents the neuro-fuzzy control method for balancing a two-wheel mobile robot. A two-wheel mobile robot is built for the experimental studies. On-line learning algorithm based on the back-propagation(BP) method is derived for the Takagi-Sugeno(T-S) neuro-fuzzy controller. The modified error is proposed to learn the B-P algorithm for the balancing control of a two-wheel mobile robot. The T-S controller is implemented on a DSP chip. Experimental studies of the balancing control performance are conducted. Balancing control performances with disturbance are also conducted and results are evaluated.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1037-1043
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• 2011

Two-wheeled balancing mobile robots are currently controlled in terms of linear control methods without considering the nonlinear dynamical characteristics. However, in the high maneuvering situations such as fast turn and abrupt start and stop, such neglected terms become dominant and greatly influence the overall driving performance. This paper addresses the SDRE nonlinear optimal control method to take advantage of the exact nonlinear dynamics of the balancing robot. Simulation results indicate that the SDRE control outperforms LQR in the respect of transient performance and required wheel torques. A design example is suggested for the state matrix that provides design flexibility in the SDRE control. It is shown that a well-planned state matrix by reflecting the physics of a balancing robot greatly contributes to the driving performance and stability.