• Journal of Advanced Research in Ocean Engineering
• /
• 제2권4호
• /
• pp.192-201
• /
• 2016

This study examined a PD controller and its application to automatic berthing control of an unmanned surface vehicle (USV). First, a nonlinear mathematical model was established for the maneuvering of the USV in the presence of environmental forces. A PD control algorithm was then applied to control the rudder and propeller during an automatic berthing process. The algorithm consisted of two parts, namely the forward velocity control and heading angle control. The control algorithm was designed based on longitudinal and yaw dynamic models of the USV. The desired heading angle was obtained using the "line of sight" method. Finally, computer simulations of automatic USV berthing were performed to verify the proposed controller subjected to the influence of disturbance forces. The results of the simulation revealed a good performance of the developed berthing control system.

• 한국전자거래학회지
• /
• 제25권2호
• /
• pp.1-14
• /
• 2020

ISO 15118은 전기자동차와 전기차 충전기 사이의 통신을 정의하는 국제 표준이다. 또한 충전 서비스를 이용할 때 사용자를 자동인증하는 기술로써 Plug & Charge(PnC)를 정의하였다. PnC는 전기차 사용자 인증, 충전, 요금 청구 등의 모든 과정이 자동으로 처리되는 자동인증기술을 말한다. 표준에 따르면 충전기와 CPS(Certificate Provisioning Service)의 인증서는 V2G(Vehicle to Grid) Root 인증서의 아래에 있어야 한다. 한국의 경우 한국전력공사가 자체적으로 PKI(Public Key Infrastructure)를 운영하고 있으므로 한전이 제공하는 충전기는 V2G Root 인증서의 아래에 있는 것이 어렵다. 따라서 서로 다른 Root 인증서를 가지고 있을 때에도 인증이 가능한 방법이 필요하다. 본 논문에서는 이를 위해 PnC 방식의 인증에 교차 인증서의 적용을 제안한다. 교차 인증서 자동인증은 서로 다른 Root 인증서를 가지더라도 인증이 가능하도록 Root CA의 교차 인증서를 발급하고 인증서 체인에 포함시켜 자동인증을 진행하는 것이다. 교차 인증서 기술을 적용하면 다른 Root 인증서의 아래에 있는 인증서의 검증을 가능하도록 해준다. 본 논문에서는 PnC 방식과 교차 인증서를 적용한 PnC 방식의 자동인증을 구현하여, 두 가지 방식이 모두 사용 가능함을 증명하는 개념 증명을 진행한다. 개발 요구사항과 인증서 프로파일, 사용자 인증 시퀀스를 작성하고, 이에 따라 구현, 실행한다. 이 실험을 통해 두 가지의 자동인증이 실행 가능하고, 특히 교차 인증서를 적용한 PnC 방식의 자동인증의 확장성이 뛰어남을 확인한다.

• 제어로봇시스템학회논문지
• /
• 제10권2호
• /
• pp.131-138
• /
• 2004

Automatic flight control system (AFCS) for a low-cost unmanned aerial vehicle is described in this paper. Development process and block diagram of the AFCS are introduced. The flight control law for longitudinal and lateral channel autopilot is designed using optimization process. In this procedure, the performance index is composed of desired location of closed loop system poles and H$_2$norm of the resultant flight control system. This procedure is applied to the autopilot design of an unmanned target vehicle. Performance of the AFCS is evaluated by processor-in-the-loop simulation test and flight test. These results show that the AFCS has acceptable performance fur low cost UAV.

• 대한임베디드공학회논문지
• /
• 제8권2호
• /
• pp.69-78
• /
• 2013

As vehicles become more intelligent for safety and convenience of drivers, in-vehicle networking systems such as controller are network (CAN) have been widely used due to increasing number of electronic control unit (ECU). Recently, FlexRay was developed to replace CAN protocol in chassis networking systems, to remedy the shortage of transmission capacity and unsatisfactory real-time transmission delay of conventional CAN. However, it is difficult for vehicle network designers to calculate platform configuration registers (PCR) and determine a base cycle or slot length of FlexRay. To assist vehicle network designers for designing FlexRay cluster, this paper presents automatic field bus exchange format (FIBEX) generation algorithm from CANdb information, which is de-facto standard database format for CAN. To design this program, structures of FIBEX, CANdb and relationship among PCR variables are analyzed.

• 제어로봇시스템학회논문지
• /
• 제18권11호
• /
• pp.1051-1058
• /
• 2012

The unified lateral control algorithm for automatic valet parking for various types of vehicles is presented and its feasibility is shown experimentally via field tests for the given parking scenario. First, a trajectory generation algorithm for forward driving and backward multi-step parking maneuvers is developed. Then, with consideration of different types of vehicles and operating conditions, a kinematic vehicle model is used and validated using field test data. Using the nonlinear vehicle model, the lateral controller is designed based on dynamic surface control. Finally the proposed lateral control law is validated via hardware-in-the-loop simulations for different types of vehicles and experimentally using a test vehicle through field tests.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2008년도 추계학술대회A
• /
• pp.979-983
• /
• 2008

A bi-modal tram can travel in not only dedicated way but also road so as to reduce construction costs and increase vehicle operation efficiency, whose passenger capacity is 2,500 to 7,000 persons/direction/hour. A bi-modal has an electronic guidance system that knows the location and route of the vehicle, and uses magnetic markers in the road surface for reference. Since a bi-modal tram will be operated in the downtown area, there is some possibility that strong wind occurred between high-rise buildings can produce sudden lateral movement (displacement) of the vehicle to influence its automatic operation controlled by electronic guidance system. For bi-modal tram in the automatic operation mode, lateral movements occurred by strong wind were calculated and analyzed in the dynamic model developed by using the ADAMS. Some useful relations among vehicle speeds, wind speeds, and lateral behaviors were discussed in this paper.

• 전기학회논문지
• /
• 제63권11호
• /
• pp.1594-1601
• /
• 2014

In this paper, we propose the LQ servo control method for the automatic train control of urban rail vehicle. Structures of the conventional PID control and LQ servo controller are compared in order to demonstrate the simplicity of the proposed controller which doesn't have zeros of the closed loop systems. The energy consumption is dealt with as an object function to be minimized, which consists of the quadratic performance indices for optimal control with the input of the feedback linearization. The effectiveness of the proposed method is shown by the practical example, compared with the conventional PD controller.

• 한국컴퓨터정보학회논문지
• /
• 제25권6호
• /
• pp.91-98
• /
• 2020

급제동 시 추돌사고를 방지하기 위하여 비상등 자동작동 기능이 없는 기존 차량에 손쉽게 추가장착이 가능한 비상등 자동작동 시스템을 제안하였다. 급제동을 인식하기 위해서는 몇 가지 방법이 있지만 GPS를 사용하면 시스템이 터널에서 작동하지 않으며 차량 속도 센서를 사용하면 기존 차량에 시스템을 추가로 설치하기 어렵다. 따라서 제안한 시스템은 가속도 센서를 사용하여 이러한 문제점들을 제거하고 차량의 급회전 및 급바운스도 인식 할 수 있도록 하였다.

• 한국정밀공학회지
• /
• 제30권10호
• /
• pp.1041-1049
• /
• 2013

One of the causes of malfunction of commercial vehicle is corrosion or wear. In order to prevent corrosion and wear, lubricants have to be supplied periodically. However, the period of lubrication usually depends on operator's judgment. If the period is too short, excess lubricant will cause pollution and unnecessary expenses, where as long periodic supply of lubricant might cause wear, damage and eventual breakdown. Therefore, an automatic lubrication system with predetermined interval will reduce the excessive supply of lubricating oil and prevent wear and damage. This thesis presents an automatic lubrication system which consists of a lubricant pump and an embedded controller. An automatic lubrication operating algorithm is used to operate the lubricant pump and feedback the pressure status of the system using pressure sensors. The developed system shows an efficient periodic supply of lubricant.

• 한국자동차공학회논문집
• /
• 제4권6호
• /
• pp.205-215
• /
• 1996

In this paper, the performance analysis of the vehicle with the Ravigneaux type automatic transmission has been carried out using information of engine and drivetrain. It is necessary to understand the overall system including engine, torque converter, clutch, planetary gears, and road load. The equations of motion are derived from dynamic model. The GUI computer simulation program has been developed to analyze the powertrain performance of the vehicle with the Ravigneaux type automatic transmission.