• Title/Summary/Keyword: Driving Mode

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PI-based Feedforward Control for Driving Mode Transformation of Rescue Robot capable of Obstacle Overcoming (장애물 극복이 가능한 구조로봇의 주행모드 변형을 위한 PI-based Feedforward 제어)

  • Jeong, Hae-Kwan;Kang, Hyun-Suk;Kwak, Yoon-Keun
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.5
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    • pp.489-495
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    • 2008
  • This paper offers a practical control scheme for driving mode transformation of a rescue robot already developed. The rescue robot, VSTR(Variable Single-Tracked Robot), has two driving modes, so can traverse untidy terrain and overcome obstacles such as stairs easily by use of timely driving mode transformation. Classical PI control scheme was used firstly for driving mode transformation, but stationary phenomenon, which might have a bad effect on the performance in real situation, came into existence. Therefore, we suggest a new controller, PI-based feedforward controller, which should be a good alternative for the problem, and compare it with other nonlinear control scheme.

Performance Evaluation for Application of Large Capacity LPB Pack Equipped to Series Hybrid Articulated Vehicle (직렬형 하이브리드 굴절차량용 대용량 LPB 팩의 적용 및 성능 평가)

  • Lee, Kang-Won;Mok, Jai-Kyun
    • Journal of the Korean Institute of Electrical and Electronic Material Engineers
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    • v.25 no.11
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    • pp.930-937
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    • 2012
  • Newly developed Series hybrid low-floor articulated vehicle which can meet both road and railway running conditions. It has the rated driving speed of 80 km/h and three driving modes with hybrid(engine+battery) driving mode, engine driving mode, battery driving mode. The battery driving mode requires the several 10 km running without additional charging operation. The vehicle has been equipped with LPB (lithium polymer battery) pack for the series hybrid propulsion system. LPB pack consists of 168 cells (3.7 V in a cell, 80 Ah) in series, DC Circuit breaker, mechanical rack, BMS (battery management system). This paper has shown the design process of LPB pack and application to the vehicle. Driving results in the road was successful to be satisfied with the requirement of the series hybrid vehicle.

Comparisons of the Particle Emission Characteristics Between GDI and MPI Vehicles (GDI와 MPI 자동차의 미세입자 배출특성 비교)

  • Lee, Jongtae;Kim, Kijoon;Kim, Jeongsoo;Jang, Jihwan;Park, Sungwook
    • Journal of ILASS-Korea
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    • v.19 no.4
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    • pp.182-187
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    • 2014
  • As the regulations for Particulate Matter (PM) and Particle Number (PN) emissions from Gasoline Direct Injection (GDI) Vehicle stringent recently, a lot of studies have been made on the emission characteristics of PM and PN. In this study, PM and PN emission characteristics were compared to GDI and Multi Port Injection (MPI) Vehicles using the Condensation Particle Counter (CPC) measurement equipment. And driving mode is divided into normal driving mode (CVS-75, NEDC, NIER 6, NIER 9) and a constant speed driving mode (10 km/h, 35 km/h, 80 km/h, 110 km/h) to evaluate the characteristics in the various operating conditions. In the results, most of the driving mode, PM and PN were emitted from GDI Vehicle more than MPI Vehicle. However, in the constant speed mode of 110 km/h, PM and PN from MPI Vehicle were also a lot of emission. It is determined to cause a difficulty in the fuel injection control of the MPI Vehicle.

Analysis of the Driving Patterns Concerned with Fuel Economy in Seoul Metropolitan Area (서울특별시의 주행특성 분석에 관한 연구)

  • Lee, Y.J.;Kwon, O.S.;Koh, C.J.
    • Transactions of the Korean Society of Automotive Engineers
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    • v.3 no.2
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    • pp.1-15
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    • 1995
  • The driving patterns in Seoul metropolitan area were surveyed in an experiment involving 1,212km of driving along seventeen representative routes. The speed and fuel consumption data were recorded and the influence of driving patterns on vehicle fuel economy was analyzed by statistical techniques. The results showed that characteristics of driving in Seoul metropolitan area are far different from that of CVS-75 mode and then on-road fuel economy in Seoul may be small as compared with that of CVS-75 mode. Finally, it was proposed that CVS-75 mode fuel economy should be modified by applying adjustment factor to represent actual on-road fuel economy.

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Development of the urban driving cycle (한국형 시가지 주행 mode의 개발연구)

  • Kwon, Chul-Hong;Park, Sun
    • Journal of the korean Society of Automotive Engineers
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    • v.9 no.1
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    • pp.57-68
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    • 1987
  • The driving pattern was studied in Seoul along nineteen representative routes using a test car equipped with all the instruments required for recording traffic flow and measuring fuel consumption. Speed histories, gear shift points, instantaneous fuel consumption rates, etc. were recorded and the data were anlyzed to determine the traffic characteristics for Seoul. The Seoul-14 Mode has been developed to simulated actual driving conditions in Seoul with respect to fuel consumption. The average speed of the Seoul-14 Mode is 30.1 Km/h and the Mode length is 11.94 Km.

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Method for Current-Driving of the Loudspeakers with Class D Audio Power Amplifiers Using Input Signal Pre-Compensation (입력 신호의 전치 보상을 이용한 D 급 음향 전력 증폭기의 스피커 전류 구동 방법)

  • Eun, Changsoo;Lee, Yu-chil
    • Journal of Korea Multimedia Society
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    • v.21 no.9
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    • pp.1068-1075
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    • 2018
  • We propose a method for driving loudspeakers from class D audio power amplifiers in current mode, instead of in conventional voltage mode, which was impossible with the feedback circuitry. Unlike analog audio amplifiers, Class D audio power amplifiers have signal delay between the input and output signals, which makes it difficult to apply the feedback circuitry for current-mode driving. The idea of the pre-distortion scheme used for the compensation of the non-linearity of RF power amplifiers is adapted to remedy the impedance variation effect of the loudspeakers for current driving. The method uses the speaker model for the pre-distorter to compensate for the speaker impedance variation with frequency. The simulation and test results confirms the validity of the proposed method.

Robust Control of Pneumatic Cylinder Driving System using Sliding Mode Controller (슬라이딩모드 제어기를 이용한 공기압 실린더 구동장치의 강인제어)

  • Jang, Ji-Seong;Han, Seung-Hun
    • Journal of Power System Engineering
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    • v.21 no.6
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    • pp.101-109
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    • 2017
  • The pneumatic driving system has advantages such as high output power per weight and low heat generation rate. However, it is difficult to control the position because of its strong non-linearity such as large friction forces compared to driving force, and heat transfer characteristics that change during operation. Therefore, in order to achieve the control objectives, a robust controller should be designed considering modeling error and model uncertainty. In this paper, a sliding mode controller is designed to improve the position control performance of pneumatic cylinder driving system. Experimental results show that the designed controller achieves the designed control objectives even if the model of the cylinder driving system, such as the initial pressure inside the cylinder and the initial position of the piston is changed.

Improvement of Sense Mode Bandwidth of Vibratory Silicon-On-Glass Gyroscope Using Dual-Mass System (이중 질량체를 사용한 진동형 자이로스코프의 검출부 대역폭 개선)

  • Hwang, Yong-Suk;Kim, Yong-Kweon;Ji, Chang-Hyeon
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.60 no.9
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    • pp.1733-1740
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    • 2011
  • In this research, a MEMS vibratory gyroscope with dual-mass system in the sensing mode has been proposed to increase the stability of the device using wide bandwidth. A wide flat region between the two resonance peaks of the dual-mass system removes the need for a frequency matching typically required for single mass vibratory gyroscopes. Bandwidth, mass ratio, spring constant, and frequency response of the dual-mass system have been analyzed with MATLAB and ANSYS simulation. Designed first and second peaks of sensing mode are 5,917 and 8,210Hz, respectively. Driving mode resonance frequency of 7,180Hz was located in the flat region between the two resonance peaks of the sensing mode. The device is fabricated with anodically bonded silicon-on-glass substrate. The chip size is 6mm x 6mm and the thickness of the silicon device layer is $50{\mu}m$. Despite the driving mode resonance frequency decrease of 2.8kHz and frequency shift of 176Hz from the sensing mode due to fabrication imperfections, measured driving frequency was located within the bandwidth of sensing part, which validates the utilized dual-mass concept. Measured bandwidth was 768Hz. Sensitivity calculated with measured displacement of driving and sensing parts was 22.4aF/deg/sec. Measured slope of the sensing point was 0.008dB/Hz.

Automated Driving Lane Change Algorithm Based on Robust Model Predictive Control for Merge Situations on Highway Intersections (고속도로 합류점 주행을 위한 강건 모델 예측 기법 기반 자율주행 차선 변경 알고리즘 개발)

  • Chae, Heongseok;Jeong, Yonghwan;Min, Kyongchan;Lee, Myungsu;Yi, Kyongsu
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.41 no.7
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    • pp.575-583
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    • 2017
  • This paper describes the design and evaluation of a driving mode decision algorithm for automated driving for merge situations on highways. For the development of a highly automated driving control algorithm for merge situations, the driving mode decision is crucial for merging appropriately. There are two driving modes: lane keeping and lane changing (merging). The merge mode decision is determined based on the state of the surrounding vehicles and the remaining length of the merge lane. In the merge mode decision algorithm, merge possibility and the desired merge position are decided to change the lane safely and quickly. A safety driving envelope is defined based on the desired driving mode using the information on the surrounding vehicles' behaviors. To obtain the desired steering angle and longitudinal acceleration for maintaining the subject vehicle in the safe driving envelope, a motion planning controller is designed using model predictive control (MPC), with constraints that are decided considering the vehicle dynamics, safe driving envelope, and actuator limit. The proposed control algorithm has been evaluated via computer simulation studies.

Obstacle Detection and Driving Mode Control for a Mobile Robot with Variable Single-tracked Mechanism (가변트랙형 주행로봇의 장애물 탐지와 주행모드제어)

  • Choi, Keun-Ha;Jeong, Hae-Kwan;Hyun, Kyung-Hak;Kwak, Yoon-Keun
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.2
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    • pp.65-71
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    • 2008
  • In this paper, we propose a new driving mode control algorithm for a mobile robot based on obstacle detection. The robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and puesue a stable system due to the lower center of gravity. However this robot system embodied passive type according to operator. In this reason, several problems are detected. So, this research presents a new method of obstacle detection using PSD infrared sensors and translates the variable tracks on the best suited driving mode actively. And experimental results about mentioned are presented.