• 제목/요약/키워드: Active Steering Control

검색결과 93건 처리시간 0.023초

측후방 충돌 회피를 위한 조향 보조 토크 및 차등 제동 분배 제어 알고리즘 개발 (Development of a coordinated control algorithm using steering torque overlay and differential braking for rear-side collision avoidance)

  • 이준영;김동욱;이경수;유현재;정혁진;고봉철
    • 자동차안전학회지
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    • 제5권2호
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    • pp.24-31
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    • 2013
  • This paper describes a coordinated control algorithm for rear-side collision avoidance. In order to assist driver actively and increase driver's safety, the proposed coordinated control algorithm is designed to combine lateral control using a steering torque overlay by Motor Driven Power Steering (MDPS) and differential braking by Vehicle Stability Control (VSC). The main objective of a combined control strategy is twofold. The one is to prevent the collision between the subject vehicle and approaching vehicle in the adjacent lanes. The other is to limit actuator's control inputs and vehicle dynamics to safe values for the assurance of the driver's comfort. In order to achieve these goals, the Lyapunov theory and LMI optimization methods has been employed. The proposed coordinated control algorithm for rear-side collision avoidance has been evaluated via simulation using CarSim and MATLAB/Simulink.

높은 조향 정확도 및 부엽 제어가 가능한 다중 빔 형성 연구 (Study on Multibeam Forming with Improved Accuracy of Steering Angle and Sidelobe Control)

  • 지상욱;이창현;이정해
    • 한국전자파학회논문지
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    • 제29권6호
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    • pp.449-456
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    • 2018
  • 본 논문에서는 마이크로파 무선전력전송에 적용될 수 있는 여러 다중 빔 형성 방법을 제안한다. 기존의 다중 빔 형성방법은 능동소자패턴(active element pattern: AEP)을 고려하지 않기 때문에 실제 시스템에 적용 시 의도한 빔 형성과 오차가 발생하게 된다. 이를 해결하기 위해 능동소자패턴의 평균을 고려하는 방법과, 변형된 푸리에 급수 방법을 통해 모든 능동소자패턴을 고려하는 방법이 제안되었다. 또한, 부엽과 null 제어를 위하여 Dolph-Tschebyscheff 방법에 중첩의 원리를 적용하여 다중 빔을 형성하는 방식을 제안하였다. 제안된 방식을 사용하여 다중 빔 형성 시 의도된 빔 형성과의 오차가 감소하는 것을 확인하였으며, 다중 빔 형성을 하며 부엽 제어를 동시에 할 수 있는 것을 확인하였다.

능동형 현가시스템을 위한 모드 SKY-HOOK 감쇠 제어기 (Modal Sky-Hook Dampers for Active Suspension Control)

  • 곽병학;박영진
    • 한국자동차공학회논문집
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    • 제3권4호
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    • pp.1-11
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    • 1995
  • Active suspension control for vehicles is developed to improve both ride comfort and steering stability which are in trade off relation. In this study, the modal sky-hook controller for 7 D. O. F. model is proposed to resolve the problems such as computaional power restriction and uncertainties in modeling of systems and environments. Modal sky-hook controller reduces the coupling between the modes to be controlled. The simulation result for ride comfort shows that the perform ance of the proposed controller matches that of the optimal controller. Systematic method of determining its gain is proposed. The model sky-hook controller shows the robustness to road irregularity and modeling error.

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공압식 능동형 엔진마운트시스템의 최적 제어매개변수 식별 (Identification of Optimal Control Parameters for a Pneumatic Active Engine Mount System)

  • 김일조;이재천;최재용;김정훈
    • 한국자동차공학회논문집
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    • 제20권2호
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    • pp.30-37
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    • 2012
  • Pneumatic Active Engine Mount(PAEM) with open-loop control system has been developed to reduce the transmission of the idle-shake vibration induced by engine effectively and economically. A solenoid valve installed between PAEM and vacuum tank is on-off switched by the Pulse Width Modulate(PWM) control signal to decrease the dynamic stiffness of the engine mount. This paper presents the methodology to identify the optimal values of control parameters of a PAEM, i.e, turn-on timing and duty ratio of PWM signal for 6 different idle driving conditions. A scanning algorithm was first applied to the vehicle test to obtain the approximate optimal control parameters minimizing the vibration at front seat rail and at steering wheel. Then the PAEM system identification was fulfilled to find accurate optimal control parameters by using multi-layer neural networks of Levenberg-Marquardt algorithm with vehicle test data.

메카트로닉 열차 연구동향 (Mechatronic Train for Next Generation)

  • 곽재호;유원희
    • 한국철도학회:학술대회논문집
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    • 한국철도학회 2006년도 추계학술대회 논문집
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    • pp.35-42
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    • 2006
  • This paper presents a brief overview of the concepts, achievements and challenges relating to the use of electronic and computer control for railway vehicles in the aspect of mechatronic design. It can provides the rail vehicles of tomorrow must be more cost effective, energy efficient, and dynamic performance. The main emphasis in this paper will be upon the use of active control for suspension and steering for new approaches of incorporation of sensors, controllers, and actuators. They can make vehicle designers to take advantages optimizing mechanics and electronics jointly which are not possible with a purely mechanical approach.

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퍼지제어기를 이용한 차동브레이크 시스템의 능동 조향제어 (Active Handling Control of the Differential Brake System Using Fuzzy Controller)

  • 윤여흥;장봉춘;이성철
    • 한국정밀공학회지
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    • 제20권5호
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    • pp.82-91
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    • 2003
  • Vehicle dynamics control (VDC) has been a breakthrough and become a new terminology for the safety of a driver and improvement of vehicle handling. This paper examines the usefulness of a brake steer system (BSS), which uses differential brake forces for steering intervention in the context of VDC, In order to help the car to turn, a yaw moment can be achieved by altering the left/right and front/rear brake distribution. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. An 8-DOF non-linear vehicle model including STI tire model will be validated using the equations of motion of the vehicle, and the non-linear vehicle dynamics. Since fuzzy logic can consider the nonlinear effect of vehicle modeling, fuzzy controller is designed to explore BSS feasibility, by modifying the brake distribution through the control of the yaw rate of the vehicle. The control strategies developed will be tested by simulation of a variety of situation; the possibility of VDC using BSS is verified in this paper.

Lateral Vehicle Control Based on Active Flight Control Technology

  • Seo Young-Bong;Choi Jae-Weon;Duan Guang Ren
    • Journal of Mechanical Science and Technology
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    • 제20권7호
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    • pp.981-992
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    • 2006
  • In this paper, a lateral vehicle control using the concept of control configured vehicle (CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to follow a chosen variable without significant motion change in other specified variables. The analysis techniques for decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling (i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.

능동비행제어기술에 기반한 자동차 횡방향 제어 (Lateral Vehicle Control Based on Active Flight Control)

  • 서영봉;;최재원
    • 제어로봇시스템학회논문지
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    • 제12권10호
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    • pp.1002-1011
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    • 2006
  • In this paper, a lateral vehicle control using the concept of control configured vehicle(CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to commend a chosen variable without significant motion change in other specified variables. The analysis techniques fur decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling(i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.

A 6-bit 3.3GS/s Current-Steering DAC with Stacked Unit Cell Structure

  • Kim, Si-Nai;Kim, Wan;Lee, Chang-Kyo;Ryu, Seung-Tak
    • JSTS:Journal of Semiconductor Technology and Science
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    • 제12권3호
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    • pp.270-277
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    • 2012
  • This paper presents a new DAC design strategy to achieve a wideband dynamic linearity by increasing the bandwidth of the output impedance. In order to reduce the dominant parasitic capacitance of the conventional matrix structure, all the cells associated with a unit current source and its control are stacked in a single column very closely (stacked unit cell structure). To further reduce the parasitic capacitance, the size of the unit current source is considerably reduced at the sacrifice of matching yield. The degraded matching of the current sources is compensated for by a self-calibration. A prototype 6-bit 3.3-GS/s current-steering full binary DAC was fabricated in a 1P9M 90 nm CMOS process. The DAC shows an SFDR of 36.4 dB at 3.3 GS/s Nyquist input signal. The active area of the DAC occupies only $0.0546mm^2$ (0.21 mm ${\times}$ 0.26 mm).

Sliding Mode Control 및 Fuzzy Logic Control 방법을 이용한 AFS 및 ARS 제어기 설계 및 성능 평가 (Design and Evaluation of AFS and ARS Controllers with Sliding Mode Control and Fuzzy Logic Control Method)

  • 송정훈
    • 한국자동차공학회논문집
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    • 제21권2호
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    • pp.72-80
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    • 2013
  • This study is to develop and evaluate an AFS and an ARS controllers to enhance lateral stability of a vehicle. A sliding mode control (SMC) and a fuzzy logic control (FLC) methods are applied to calculate the desired additional steering angle of AFS equipped vehicle or desired rear steer angle of ARS equipped vehicle. To validate AFS and ARS systems, an eight degree of freedom, nonlinear vehicle model and an ABS controllers are also used. Several road conditions are used to test the performances. The results showed that the yaw rate of the AFS and the ARS vehicle followed the reference yaw rate very well within the adhesion limit. However, the AFS improves the lateral stability near the limit compared with the ARS. Because the SMC and the FLC show similar vehicle responses, performance discrimination is small. On split-${\mu}$ road, the AFS and the ARS vehicle had enhanced the lateral stability.