• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.6-6
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• 2000

By using the information obtained from the outputs of MR(MagnetoResistive) sensors for an Unmanned Vehicle Driving System, we develop an algorithm that decides the distance and direction between vehicle and the guideline which is made by the magnet. To improve the robust tracking properties of the closed loop system, we introduce H$\infty$ controller and its application for the Unmanned Vehicle Driving System.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2005년도 추계학술대회 논문집
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• pp.293-298
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• 2005

In this paper, we introduced a simulator to visualize the driving scenery of newly developed train called the K-AGT(Korea Automated Guideway Transit). The simulator consists of mainly two parts; control system and display system. In the control system, user can control the driving speed of the K-AGT, the driving environment(day and night), the operation of the train door and the screen door and user's views(driver's view, left window view, right window view, passenger's view). In the display system, immersive driving scenery generated by stereoscopic head mount display system and 3 channel PDP display system are displayed. We are expect to utilize the system to share the idea among customer, designer and constructor and verify the operating condition of the K-AGT intuitively.

• 동력기계공학회지
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• 제8권4호
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• pp.24-30
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• 2004

In this study, a position synchronous control algorithm applied to two-axes pneumatic cylinder driving apparatus is proposed. The position synchronous control algorithm is composed of position controller and synchronous controller. The position controller is designed to minimize the effect of several nonlinear characteristics peculiar to the pneumatic cylinder driving apparatus on position control performance. The synchronous controller is designed to reduce the synchronous error. The effectiveness of the proposed controller is proved by simulation results.

• 한국정밀공학회지
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• 제33권3호
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• pp.183-190
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• 2016

In this study, we conduct linear and nonlinear modeling of the DC motor driving system of a wheeled mobile robot, which is a nonlinear system involving dead zone, friction, and saturation. The DC motor driving system consists of a DC motor, a wheel, and gears. A linear DC motor driving system is modeled using a steady-state response and parameter measurements. A nonlinear DC motor driving model is identified with the use of the Hammerstein-Wiener method. By using these models, PID controllers for the DC motor system are then established. Each PID controller is applied as a low-level controller in order to achieve posture stabilization control for the real mobile robot. We also compare the performance of the proposed PID controllers in posture stabilization experiments by using several different final robot postures.

• 한국자동차공학회논문집
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• 제7권7호
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• pp.250-257
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• 1999

Driving simulators are used effectively for human factor study, vehicle system development and other purposes by enabling to reproduce actural driving conditions in a safe and tightly controlled enviornment. Interactive simulation requries appropriate sensory and stimulus cuing to the driver . Sensory and stimulus feedback can include visual , auditory, motion, and proprioceptive cues. A fixed-base driving simulator has been developed in this study for vehicle system developmnet and human factor study . The simulator consists of improved and synergistic subsystems (a real-time vehicle simulation system, a visual/audio system and a control force loading system) based on the motion -base simulator, KMU DS-Ⅰ developed for design and evaluation of a full-scale driving simulator and for driver-vehicle interaction.

• 한국소음진동공학회논문집
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• 제22권7호
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• pp.650-658
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• 2012

This paper proposes a high performance position controller for a driving system using a time optimal controller which has been widely used to control driving systems to achieve desired reference position or velocity in a minimum response time. The main purpose of this research lies in an improvement of transient response performance rather than that of steady-state response in comparison with other control strategies. In order to refine the scheme of time optimal control, Lyapunov stability proofs are incorporated in a controller of standard second order system model. This scheme is applied to the control of a driving system. In view of the simulation and experiment results, the standard second order system model exhibits better minimum-time control performance and robustness than double integral system model does.

• 자동차안전학회지
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• 제3권2호
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• pp.28-33
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• 2011

This paper presents driving path estimation algorithm for adaptive cruise control system and advanced emergency braking system using multi-sensor fusion. Through data collection, yaw rate filtering based road curvature and vision sensor road curvature characteristics are analyzed. Yaw rate filtering based road curvature and vision sensor road curvature are fused into the one curvature by weighting factor which are considering characteristics of each curvature data. The proposed driving path estimation algorithm has been investigated via simulation performed on a vehicle package Carsim and Matlab/Simulink. It has been shown via simulation that the proposed driving path estimation algorithm improves primary target detection rate.

• 한국자동차공학회논문집
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• 제9권5호
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• pp.115-121
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• 2001

A driving load estimation method for intelligent cruise control(ICC) vehicles has been proposed in this paper. Vehicle driving load is one of the most important factors of perturbations in vehicle control and can affect the control performance critically. The effect of the control with driving load estimation on vehicle-to-vehicle distance control has been presented and investigated via computer simulations and vehicle tests. The results show that vehicle-driving-load-adaptive control can provide an ICC system with a good acceleration tracking performance. In addition, the results show that driving load estimation can compensate not only the variation of driving load but also the modeling errors.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.653-658
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• 2000

A driving load estimation method for intelligent cruise control(ICC) vehicles has been proposed in this paper. The driving load is one of the most important factors of perturbations in vehicle control and can affect the control performance critically. The Effect of the control with driving load estimation on vehicle-to-vehicle distance control has been presented and investigated via computer simulations and vehicle tests. The results show that the control with driving load estimation can provide ICC system with a good acceleration tracking performance. In addition, the results show that driving load estimation can compensate not only variation of driving load but also the modeling errors.

• 한국정밀공학회지
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• 제18권5호
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• pp.65-73
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• 2001

In this paper, a mobile system using multi-wheel steering and driving mechanism is proposed to maximize maneuverability of the wheeled mobile system. Among various possible configurations, the two-wheel steering and driving systems, which is minimal in structural requirement, is proposed to reduce the complexity in actual design and difficulties in control. The system possesses three or four degrees of freedom depending on the orientations of two wheels, one or two for driving and two for steering, which implies that the system's mobility is always less than three DOF. The proposed system, nonetheless, can exactly emulate characteristics of the omnidirectional motion as long as the planned path is smooth i.e., the curvature changes continuously while velocity is not zero. Efficient kinematic and dynamic control algorithms are proposed for position and orientation control of the proposed wheeled mobile system.