• Proceedings of the KSME Conference
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• 2007.05a
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• pp.861-866
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• 2007

This paper presents development of a vehicle lateral and longitudinal control for autonomous driving control and test results obtained using an electric vehicle. Sliding control theory has been used to develop a vehicle speed and distance control algorithm. The longitudinal control algorithm that maintains safety and comfort of the vehicle consists of a cruise and STOP&GO control depending on traffic conditions. Desired steering angle is determined through the lateral position error and the yaw angle error based on preview optimal control. Motor control inputs have been directly derived from the sliding control law. The performance of the autonomous driving control which is integrated with a lateral and longitudinal control is investigated by computer simulations and driving test using an electric vehicle. Electric vehicle system consists of DC driving motor, an electric power steering system, main controller (Autobox)

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.849-854
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• 2007

This paper describes design and tuning of a full-range Adaptive Cruise Control (ACC) with collision avoidance. The control scheme is designed to control the vehicle so that it would feel natural to the human driver and passengers during normal safe driving situations and to avoid rear-end collision in vehicle following situations. In this study, driving situations are determined using a non-dimensional warning index and time-to-collision (TTC). A confusion matrix method based on natural driving data sets was used to tune control parameters in the proposed ACC System. An ECU-Brake Hardware-in-the-loop Simulation (HiLS) was developed and used for an evaluation of ACC System. The ECU-Brake HiLS results for alternative driving situation are compared to manual driving data measured on actual traffic way. The ACC/CA control logic implemented in an ECU was tested using the ECU-Brake HiLS in a real vehicle environment.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.261-267
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• 2000

In this study, a heavy-load servo-control driving system, which are composed of controller, electro-hydraulic servomechanism, hydraulic motor, reduction gearbox, turret slew bearing and turret structure, are investigated to simplify the servo-control system. To estimate the effect of each component, nonlinear modeling and simulation are carried out. In the first stage, to prove the validity of the performance estimation program, simulation results are compared with experimental results. In the second stage, the effect of each component of the control system is evaluated and then a simplified control system is suggested.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.6
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• pp.968-974
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• 2017

In this paper, modeling of brushless DC motor (BLDC) driving system for platform screen door control applied fuel cell power generation system has been proposed. At first the system configuration and operational principle of the developed fuel cell simulator has been investigated and the design of BLDC motor driving system is studied and the overall performance and dynamics of the proposed system could be effectively examined by simulation. PSIM simulation program is implemented to verify the performance and compatibility of the fuel cell power generation system and BLDC motor control system modeling.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.608-613
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• 2002

In this paper we developed the MPC sensor for steering control and steering control of the AGVDS(Autonomous Guided Vehicle Driving System) for Durability test. Among durability tests, the accelerated durability test has been widely used to evaluate the durability of vehicle structure and chassis parts in a short period of time on the designed road that has severe surface conditions. However it increased the drivers fatigue mainly caused by the severe driving conditions. The driver's difficulty to maintain the constant speed and control the steering wheel reduces the reliability of test results. In addition to the general detecting sensor for steering control was restricted by surrounding condition. So we need to develop steering control sensor was robust in the bad driving condition. In this paper we developed steering control sensor using magnetic induction which is robust in the bad driving condition and implemented the AGVDS.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.05a
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• pp.627-630
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• 2009

The combination of the marine use various multi sensor surveillance system technology with the development of servo motion control algorithm and gyro sensor in six freedom motion is implemented to analyze the movement response. The stabilization of the motion control is developed and Nano driving Precision Pan-Tilt/Gimbal system is obtained from the security positioning cameras with ultra high speed device is used to carry out the exact behavior of the device. The exact behavior will be used to make a essential equipment. Finally the development of the Nano Driving Multi Sensor, Nano of Surveillance System Driving Precision Pan-Tilt/Gimbal optimal design and production, 3-aix Gyro Sensor based with Servo Motion Control algorithm development, Image trace video software and hardware tracking the development is organized and discuss in details. The development of the equipment and the system integration are fully experimented and verified.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.1
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• pp.150-157
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• 2016

In this paper, a control system for E-bike based on IOT was developed, which collects and monitors information of states of E-bike and surrounding environments from several sensors and control devices in E-bike, and informs the possible dangers to rider when riding the E-bike. Developed electronic control system can manage battery efficiently, obtain battery's remaining power in real-time and provide possible riding distance to rider. It makes possible for rider to schedule near optimal riding route in terms of battery usage and respond quickly to battery discharge. Results of applying developed system to E-bike show that according to driving-mode, possible driving distance can be calculated efficiently and using user application App, real-time driver position marking and driving route searching functions lead to energy efficient E-bike driving. Later we will endeavor to integrate BMS, ECU, smart-phone and PC(server) to provide stable driving system based on various driving information of E-bike.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1048-1051
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• 1996

In this paper, we present real-time S/W architecture and techniques such as real-time scheduling, synchronization, and etc. for implementation of a real-time control system for driving multi-motors. Simulation shows feasibility of real-time S/W techniques presented here.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.3 no.2
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• pp.465-470
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• 1999

This paper presents a design method of driving system for EV(Electric Vehicle). EV driving system consist of batteries, battery interface system and inverter. The power control circuit of the driving system is simple, since only one PWM(Pulse Width Modulation) inverter is used. These test spectrums and waveforms can be used to determine the filter component ratings as well as to compute the harmonics injected into the source. The hybrid control strategy which can reduced harmonic components. The analysis results indicate that the required capacity of the condenser can be reduced with LC filter. In this paper, the design and implementation of the proposed systems are described and some experimental results are given to show the performance of this driving system. The control strategy of the system to available inverter's power and motor's power and torque is discussed.

• Transactions of The Korea Fluid Power Systems Society
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• v.8 no.3
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• pp.8-13
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• 2011

In the present study, a robust controller has been designed to control force for a pneumatic driving system considering the effect of a transmission line. Transfer characteristics of pneumatic transmission line should be changed according to the velocity of the air going through the transmission line. The designed controller is composed of two parts. The one is a feedback controller, which is composed of a stabilizing filter, a compensating filter of modelling error and a nominal model of the force control system, to compensate the influence of transmission line and improve the feedback characteristics of the control system, and, the other is a feedforward controller to achieve the control performance. Control results with the designed controller show that the robustness and performance of the control system are improved compared to the control results with a fixed gain controller.