• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 1998년도 학술발표회논문집
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• pp.92-98
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• 1998

In this paper various drive characteristics of a AC Servo Motor for EV(electric vehicle) and hybrid system proposed a countermeasure against air polution are presented. Since the transfer function of the plant is nonlinear and very complicated, there are difficultly in driving the system with real time. The performance of these experiments is confirmed by computer simulation results. The high performance and high accuracy of the driving system, Field oriented vector control system is proposed.

• 로봇학회논문지
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• 제17권2호
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• pp.198-208
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• 2022

In this paper, an autonomous driving system is implemented for the Segye AI Robot Race Competition that multiple vehicles drive simultaneously. By utilizing the ERP42-racing platform, RTK-GPS, and LiDAR sensors provided in the competition, we propose an autonomous driving system that can drive safely and quickly in a road environment with multiple vehicles. This system consists of a recognition, judgement, and control parts. In the recognition stage, vehicle localization and obstacle detection through waypoint-based LiDAR ROI were performed. In the judgement stage, target velocity setting and obstacle avoidance judgement are determined in consideration of the straight/curved section and the distance between the vehicle and the neighboring vehicle. In the control stage, adaptive cruise longitudinal velocity control based on safe distance and lateral velocity control based on pure-pursuit are performed. To overcome the limited experimental environment, simulation and partial actual experiments were conducted together to develop and verify the proposed algorithms. After that, we participated in the Segye AI Robot Race Competition and performed autonomous driving racing with verified algorithms.

• International Journal of Automotive Technology
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• 제7권2호
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• pp.145-154
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• 2006

In the companion paper, the composition and structure of the MATDYMO (Multi-Agent for Traffic Simulation with Vehicle Dynamic Model) were proposed. MATDYMO consists of the road management system, the vehicle motion control system, the driver management system, and the integration control system. Among these systems, the road management system and the integration control system were discussed In the companion paper. In this paper, the vehicle motion control system and the driver management system are discussed. The driver management system constructs the driver agent capable of having different driving styles ranging from slow and careful driving to fast and aggressive driving through the yielding index and passing index. According to these indices, the agents pass or yield their lane for other vehicles; the driver management system constructs the vehicle agents capable of representing the physical vehicle itself. A vehicle agent shows its behavior according to its dynamic characteristics. The vehicle agent contains the nonlinear subcomponents of engine, torque converter, automatic transmission, and wheels. The simulation is conducted for an interrupted flow model and its results are verified by comparison with the results from a commercial software, TRANSYT-7F. The interrupted flow model simulation is implemented for three cases. The first case analyzes the agents' behaviors in the interrupted flow model and it confirms that the agent's behavior could characterize the diversity of human behavior and vehicle well through every rule and communication frameworks. The second case analyzes the traffic signals changed at different intervals and as the acceleration rate changed. The third case analyzes the effects of the traffic signals and traffic volume. The results of these analyses showed that the change of the traffic state was closely related with the vehicle acceleration rate, traffic volume, and the traffic signal interval between intersections. These simulations confirmed that MATDYMO can represent the real traffic condition of the interrupted flow model. At the current stage of development, MATDYMO shows great promise and has significant implications on future traffic state forecasting research.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 B
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• pp.1182-1184
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• 1992

In case of chopper control is used for the d.c motor In the electric vehicle(EV) in general step down chopper is used for the driving and the step-up chopper is used for the regeneration. Bilateral variable ratio chopper system(BVRCS) formed by parallel combination of upper two chopper methods step-down, step-up and step-up/down chopper operations by duty cycle, circuit element and driving condition. In this paper, BVRCS is proposed for the simulated and experimented control of d.c motor in the EV. By the result of simulation BVRCS represents same driving power compared to the step-down and excellent breaking power compared to the step-up chopper system because of the greater motor current.

• 한국자동차공학회논문집
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• 제21권5호
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• pp.54-58
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• 2013

In recent days, vehicles have become equipped with electric systems that assist and help drivers driving safe by reducing possible accidents. LDWS(Lane Departure Warning System) and LKAS(Lane Keeping Assistant System) are involved in assist systems, especially for lateral motion of vehicles. Sudden and inattentive lateral motion of vehicles due to drivers' fatigue, illness, inattention, and drowsiness are major causes of accidents in highway. LDWS and LKAS provide drivers with warnings or assisting power to reduce any possibilities of accidents. In order to prevent or minimize the possibilities of accidents, lateral motion control of vehicles has been introduced in this research. DGPS/RTK(Differential Global Positioning System/Real Time Kinematics) and GIS(Geographic Information System) have been used to obtain the current position of vehicles and decide when activate controlling lateral motion of vehicles. The presented lateral motion control has been validated with actual vehicle tests.

• 한국지능시스템학회논문지
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• 제19권5호
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• pp.699-705
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• 2009

본 논문은 지게차 AGV(autonomous ground vehicle)의 자율주행을 위한 제어 방법에 관한 연구이다. 기존에 개발된 지게차 AGV의 위치측정 방법으로는 자기-자이로 유도(magnet-gyro guidance) 방식과 유선 유도(wire guidance) 방법이 있지만, 유지보수에 대한 지속적인 노력과 비용문제가 있으며, 작업 환경의 변화에 따라 작업 환경을 재구성해야하는 단점이 있다. 따라서 본 논문에서는 외란에 강인하고 작업 환경 및 작업 내용의 변경에 유연한 시스템을 구축하기 위해 레이저 내비게이션 센서와 엔코더, 자이로 센서의 센서융합을 통한 위치측정 시스템을 개발하였다. 또한 팔레트를 하역 운송해야하는 지게차 AGV의 주행제어를 위해 팔레트와 지게차 AGV 사이의 거리 차와 각도 차를 바탕으로 퍼지 제어 및 비례 제어를 이용한 주행제어기를 설계하였다. 본 연구에서 제안한 지게차 AGV를 위한 제어 시스템의 성능 분석을 위해 물류 운송작업이 가능한 작업공간에서 동일한 하역 작업을 10회 반복 하였다. 그 결과, 시뮬레이션에 의해 생성된 경로와 실제 주행경로의 최대 평균 오차가 87.77mm를 가짐을 확인하였다.

• Journal of Electrical Engineering and Technology
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• 제5권1호
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• pp.129-139
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• 2010

To be satisfied with complex load condition of electric vehicle, fuzzy logic control (FLC) is applied to improve speed response and system robust performance of induction traction machine based on indirect rotor field orientation control. The proposed propulsion system consists of two induction motors (IM) that ensure the drive of the two back driving wheels of lightweight electric vehicle by means the vehicle used for passenger transportation. The electronic differential system ensures the robust control of the vehicle behavior on the road. It also allows controlling, independently, every driving wheel to turn at different speeds in any curve. Our electric vehicle fuzzy inference system control's simulated in Matlab SIMULINK environment, the results obtained present the efficiency and the robustness of the proposed control with good performances compared with the traditional PI speed control, the FLC induction traction machine presents not only good steady characteristic, but with no overshoot too.

• Journal of Electrical Engineering and Technology
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• 제4권4호
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• pp.499-509
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• 2009

Electric vehicles (EV) are developing fast during this decade due to drastic issues on the protection of environment and the shortage of energy sources, so new technologies allow the development of electric vehicles (EV) by means of electric motors associated with static converters. The proposed propulsion system consists of two induction motors (IM) that ensure the drive of the two back driving wheels. The electronic differential system ensures the robust control of the vehicle behavior on the road. It also allows controlling, independently, every driving wheel to turn at different speeds in any curve. This paper presents the study of an hybrid Fuzzy-sliding mode control (SMC) strategy for the electric vehicle driving wheels, stability improvement, in which the fuzzy logic system replace the discontinuous control action of the classical SMC law. Our electric vehicle fuzzy-sliding mode control's simulated in Matlab SIMULINK environment, the results obtained present the efficiency of the proposed control with no overshoot, the rising time is perfected with good disturbances rejections comparing with the classical control law.

• 대한설비공학회:학술대회논문집
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• 대한설비공학회 2006년도 하계학술발표대회 논문집
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• pp.1150-1155
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• 2006

In a heating control system, the indoor temperature controller transfers temperature signals inputed from the temperature sensor and the user to the valve controller. The valve controller recieves these signals then the valve controller controls the valve driving motor on two position control and controls the indoor temperature. When setting up a new valve driving motor from a long distance it is necessary to set up a new valve controller. But occasionary, due to construction, it is impossible to wire between the existing valve controller and the new valve controller. In this situation, the new and existing valve controllers can communicate via power line communication. In this paper it is proposed heating control system controls on two position control via power line communication.

• 한국대기환경학회지
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• 제31권6호
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• pp.562-572
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• 2015

$NO_x$ emissions from diesel vehicles have been regarded as a main cause of high $NO_2$ concentration in metropolitan area. Recent studies have shown that the on-road $NO_x$ emissions of diesel vehicles are quite higher than the emission limits specified with the pre-defined test method for emission certification. To reduce air pollutants effectively, the discrepancy of emissions in certification and real-driving conditions should be tackled. In this study, the real-driving emissions have been estimated with portable emission measurement system (PEMS). The results of this study have shown that the on-road $NO_x$ emissions from diesel vehicles have been decreased as the introduction of stricter emission regulation, EURO-6, but additional reduction should be still required and robust technologies should be applied to control $NO_x$ in real-driving conditions. RDE-LDV (Real Driving Emission - Light Duty Vehicles) test method being developed in the European Union can represent excessive on-road $NO_x$ emissions of diesel vehicles as applied emission technologies and can be a solution to remove discrepant $NO_x$ emissions between certification and Korean real-driving conditions. Among the $NO_x$ reduction technologies for EURO-6 diesel vehicles, selective catalytic reduction (SCR) system has shown the better performance than lean $NO_x$ trap (LNT) system to control on-road $NO_x$ emissions. Implementing RDE-LDV will require vehicle manufacturers to adopt the more effective $NO_x$ reduction technology in real driving conditions.