• Proceedings of the KIEE Conference
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• summer
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• pp.1300-1303
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• 2004

Using AF(Audio Frequency) track circuits to control block signal automatically. ATC(Automatic Train Control) system employed in urban transit 3/4 line, Gwacheon-line, Bundang-line and Ilsan-line pursues the safety of train operation. ATC is employed as important means for the safety. in which the distance between trains is controlled to satisfy the safety requirement. In this paper, we analyze the control algorithm of ATC and investigate the improvement plan of urban transit driving control mode to guarantee the automatic driving function.

• Journal of Auto-vehicle Safety Association
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• v.11 no.3
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• pp.30-36
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• 2019

This paper suggests a car-following algorithm for urban environment, with multiple target candidates. Until now, advanced driver assistant systems (ADASs) and self-driving technologies have been researched to cope with diverse possible scenarios. Among them, car-following driving has been formed the groundwork of autonomous vehicle for its integrity and flexibility to other modes such as smart cruise system (SCC) and platooning. Although the field has a rich history, most researches has been focused on the shape of target trajectory, such as the order of interpolated polynomial, in simple single-lane situation. However, to introduce the car-following mode in urban environment, realistic situation should be reflected: multi-lane road, target's unstable driving tendency, obstacles. Therefore, the suggested car-following system includes both in-lane preceding vehicle and other factors such as side-lane targets. The algorithm is comprised of three parts: path candidate generation and optimal trajectory selection. In the first part, initial guesses of desired paths are calculated as polynomial function connecting host vehicle's state and vicinal vehicle's predicted future states. In the second part, final target trajectory is selected using quadratic cost function reflecting safeness, control input efficiency, and initial objective such as velocity. Finally, adjusted path and control input are calculated using model predictive control (MPC). The suggested algorithm's performance is verified using off-line simulation using Matlab; the results shows reasonable car-following motion planning.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.6
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• pp.906-915
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• 2004

In this paper, we address the development of magnetic levitation positioning system. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for driving levitation object called a platen. This stage can generate six degrees of freedom motion by the vertical and horizontal force. We derived the mechanical dynamics equation using Lagrangian method and used coenergy to express an electromagnetic force. We proposed a control algorithm for the position and posture control from its initial value to its desired value using sliding mode control. Some simulation results are provided to verify the effectiveness of the proposed control scheme.

• International Journal of Automotive Technology
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• v.5 no.2
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• pp.123-133
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• 2004

This paper describes a robust and fast wheel slip tracking control using a moving sliding surface technique. A traction control system (TCS) is the active safety system used to prevent the wheel slipping and thus improve acceleration performance, stability and steerability on slippery roads through the engine torque and/or brake torque control. This paper presents a wheel slip control for TCS through the engine torque control. The proposed controller can track a reference input wheel slip in a predetermined time. The design strategy investigated is based on a moving sliding surface that only contains the error between the reference input wheel slip and the actual wheel slip. The used moving sliding mode was originally designed to ensure that the states remain on a sliding surface, thereby achieving robustness and eliminating chattering. The improved robustness in driving is important due to changes, such as from dry road to wet road or vice versa which always happen in working conditions. Simulations are performed to demonstrate the effectiveness of the proposed moving sliding mode controller.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.630-637
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• 2003

This paper proposes a new modeling scheme to describe the hysteresis and the dynamic characteristics of piezoelectric actuators in the inchworm and develops a control algorithm for the precision motion control. From the analysis of piezoelectric actuator behaviors, the hysteresis can be described by the functions of a maximum input voltage. The dynamic characteristics are also identified by the frequency domain modeling technique based on the experimental data. For the motion control, the hysteresis behavior is compensated by the inverse hysteresis model. The dynamic stiffness of an inchworm is generally low compared to its driving condition, so mechanical vibration may degenerate the motion accuracy of the inchworm. Therefore, the sliding mode control and the Kalman filter are developed for the precision motion control of the inch-warm. To demonstrate the effectiveness of the proposed modeling schemes and control algorithm, experiment validations are performed.

• Proceedings of the KIEE Conference
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• 1992.07b
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• pp.1225-1227
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• 1992

This paper presents a study on the variable structure PI(proportional and integrate) control which is insensible to the variation of parameters or external disturbance for driving DC motor. In the presented variable structure PI control (VSPIC), the sliding mode control was used at the below of 4000 rpm and PI control also used at the above of 4000 rpm with no load. In other way, the PI control was used at the below of 4000 rpm and the sliding mode control at the above of 4000 rpm with some loading, and then the output waveform following the variation of load was measured. intel 8031 microcomputer unit and IBM PC was combined to form the full system and the speed control was performed with it. The experimental result of the fast response to speed was more improve than it was open loop state. For load varing, the sliding mode insensible to external disturbance was applied and the improved response was obtained.

• 전기의세계
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• v.21 no.3
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• pp.31-40
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• 1972

This study intends to investigate the optimal switching modes of a double-capacitive thermal system under different constraints on the state and the control variable, by the application of the Pontryagin's Minimum Principle. Throughout the development, the control effort is assumed to have two modes of state: M or zero and the terminal times being fixed. In the first part of this study, the Principle is discussed under various conditions for this particular problem, with different criterion functions and in the same time imposing a certain constraints; i) on the terminal states, ii) on functions of the terminal states. Depending upon the upper bound value of the control vector, possible driving modes of the states are studied from which particular optimal driving modes are extracted so as to meet the specified constraints and boundary conditions imposed in the problem. Numerical solutions are evaluated for an over0damped, double-capacitive thermal plant and the optimal solutions: the switching mode, the optimal switching time, and the control effort are compared with the analytical results, in the second part of this work, to confirm the development.

• Proceedings of the KIPE Conference
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• 2010.07a
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• pp.65-66
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• 2010

This paper deals with PMSM control method for electric scooter. Electric scooter's motor has special structure that is hard to attach resolver or encoder. This paper suggests a method that it is performed of vector control for PMSM using hall sensor. After driving BLDC motor in low speed typically, driving mode is changed to PMSM operation and performs MTPA and flux weakness control. Proposed method is verified through simulation and testing.

• Journal of Korean Society for Atmospheric Environment
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• v.22 no.3
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• pp.383-391
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• 2006

In Korea, the major source of serious air pollution is motor vehicles. Air pollution from vehicles has been annually increased. Then the government will try to control the vehicle emission by applying the effective emission management policy for the manufactured and in-used car. It is necessary to correctly calculate the emission factor for successful propulsion of the vehicle emission control policy. In this study, correlation analysis of exhaust emissions from vehicles between CVS-75 mode and Korea mode was conducted. A total of 25 light-duty buses were tested on the chassis dynamometer system in order to measure CO, HC, NOx PM and fuel efficiency (F.E.). For the test modes, 10 different Korea modes and CVS-75 mode were used. As the result of correlation analysis between those modes, most of the correlation coefficients were higher than 0.90. On the basis of high correlation between those modes, correction factors by driving conditions were estimated. Through the results of this study, we obtained essential basic data to correct difference from those modes.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.9
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• pp.179-185
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• 2002

Solid state deformation of PZT is effective for the micron scale displacement. Inch-worm gets large linear displacement by incrementally summing displacements of PZT actuators. Dynamic stiffness of inch-worm is generally low compared to its driving condition due to the small size and light weight of inch-worm. Mechanical vibration induced by low stiffness may degenerate the motion accuracy of the inch-worm. In this paper, dynamic characteristics of the inch-worm are modeled by using the frequency domain curve fitting based on the experimental frequency response function. SMC (sliding mode control) is examined for motion control of the inch-worm. Simulation and experimental results show that the inch-worm with SMC scheme is feasible for the precise displacement device.