• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.353-356
• /
• 1997

Vehicle steering system determines the direction of a vehicle. A manual steering system consists of mechanical connections between the steering wheel and tires. Recent power steering system adds an actuator to help a driver to steer easily at low speed. However, at front collision, the driver can be injured by steering shaft and the power steering pump decreases the engine power. To solve these problems, electronic power steering system which connects the steering wheel and tires with electronic connection is proposed, that has advantages such as decrease of engine load and increase of driver safety reactive. Since the ratio between driver's steering torque and steering torque of tires can be controlled freely, the torque which is delivered from the road to the driver through tires and steering wheel can be reshaped to make the driver feel comfortable. In this paper, the ratio of delivering steering torque and the magnitude of force to be delivered from road to driver has been controlled using fuzzy controller, and it's effectiveness has been shown through simulation results.

• 한국산업융합학회 논문집
• /
• 제20권4호
• /
• pp.325-332
• /
• 2017

The engine cooling system is a device that maintains the temperature in the engine room at an appropriate level by driving a cooling fan when the temperature in the engine room generated during the vehicle operation occurs over a certain temperature. In recent years, the vehicle cooling system has changed to an electronic system. Therefore, in this paper, we design and develop a hall sensor based electronic engine cooling system. In this paper, a hall sensor module and an actuator module for engine cooling control system are designed. In order to verify the performance of the designed module, the magnetic field control was verified through the simulation of the diameter and the head of the coil.

• Journal of international Conference on Electrical Machines and Systems
• /
• 제3권4호
• /
• pp.403-408
• /
• 2014

If it were possible to control four sets of PMSMs in place of induction motors by using one inverter, we could attain efficient driving trains. In this paper, a method for controlling three sets of PMSMs with one inverter is shown. Additionally, this shows the method to control four sets of PMSMs with one inverter and the results of a simulation with the proposed method.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 제38회 하계학술대회
• /
• pp.1578-1579
• /
• 2007

In this paper, we propose a new method for designing the steering controller of Autonomous Underwater Vehicle(AUV) using a Self-Recurrent Wavelet Neural Network(SRWNN). The proposed control method is based on a direct adaptive control technique, and a SRWNN is used for the controller of horizontal motion of AUV. A SRWNN is tuned to minimize errors between the SRWNN outputs and the outputs of AUV via the gradient descent(GD) method. Finally, through the computer simulations, we compare the performance of the propose controller with that of the MLP based controller to verify the superiority and effectiveness of the propose controller.

• 로봇학회논문지
• /
• 제19권1호
• /
• pp.8-15
• /
• 2024

This paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that H_∞ optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

• 센서학회지
• /
• 제10권5호
• /
• pp.329-336
• /
• 2001

This paper describes the steering control and geomagnetism cancellation for an autonomous vehicle using an MR sensor. The magneto-resistive (MR) sensor obtains the vector summation of the magnetic fields from embedded magnets and the Earth. The vehicle is controlled by the magnetic fields from embedded magnets. So, geomagnetism is the disturbance in the steering control system. In this paper, we propose a new method of the sensor arrangement in order to remove the geomagnetism and vehicle body interference. The proposed method uses two MR sensors located in a level plane and the steering controller has been developed. The controller has three input variables ($dB_x$, $dB_y$, $dB_z$) using the measured magnetic field difference, and an output variable (the steering angle). A simulation program was developed to acquire the data to teach the neural network, in order to test the ability of a neural network to learn the steering control process. Also, the computer simulation of the vehicle (including vehicle dynamics and steering) was used to verify the steering performance of the vehicle controller using the neural network. From the simulation and field test, good result was obtained and we confirmed the robustness of the neural network controller in a real autonomous vehicle.

• 한국정보통신학회논문지
• /
• 제23권6호
• /
• pp.637-644
• /
• 2019

공공 안전은 스마트 시티(Smart City)의 주요 목표 중 하나이다. 본 논문에서는 공공 안전에 도움을 줄 수 있는 차량 추적 시스템을 제안하고서 관련 애플리케이션을 설계 및 구현하였다. 제안하는 차량 추적 시스템의 목적은 경찰에게 도난 차량의 위치 정보를 실시간으로 제공해서 보다 효율적으로 도난 차량을 추적하는 것이다. 차량 소유자가 차량 추적을 요청하면, 이 요청을 수신한 공공 안전 서버 프로그램은 공간 정보 질의(Geospatial Query) 기법을 사용하여 도난 차량과 가장 가까운 경찰을 찾아 도난 차량의 위치와 시간, 거리 및 경로와 같은 정보들을 제공한다. 구현한 시스템의 유효성을 입증하기 위해 타임 스탬프(Time Stamp)를 이용한 트랜잭션 시뮬레이션을 수행하였으며, 이 시뮬레이션을 통해 1.2초 이내의 빠른 시간 내에 차량 소유자의 요청이 경찰에게 전달되는 것을 확인할 수 있었다.

• 한국ITS학회 논문지
• /
• 제22권6호
• /
• pp.299-312
• /
• 2023

최근 ECU(Electronic Control Unit)는 단순한 편의 기능을 넘어 여러 기능이 하나로 통합되고 있다. 이에 따라 ECU는 이전보다 더 많은 기능과 외부 인터페이스를 갖게 되었고, 다양한 사이버 보안 문제가 발생하고 있다. UNECE(United Nations Economic Commission for Europe) WP. 29는 증가하는 차량 사이버보안에 대한 위협을 고려해 UN Regulation No.155를 발표하여 차량 사이버 보안 관리 체계에 대한 국제 기준을 마련했다. 국제 기준에 따르면 차량 제조업체는 2022년 7월부터 CSMS(Cybersecurity Management System)를 구축하고, VTA(Vehicle Type Approval)를 받아야 한다. 그러나 국내에서는 이에 대한 준비가 미흡해 시행 시기를 조정해야 한다는 의견이 제기되었다. 따라서 본 논문에서는 요구사항의 CSMS 현황을 확인하기 위한 체크리스트와 식별된 갭(Gap)을 완화하기 위한 다양한 차량 보안 솔루션을 매핑 시켜주는 웹 기반의 솔루션을 제안한다.

• 한국소음진동공학회논문집
• /
• 제26권2호
• /
• pp.210-216
• /
• 2016

In this work, performance analysis to improve ride comfort of an ER (electrorheological) fluid damper for a mid-sized passenger vehicle in terms of tire pressure is presented. An ER damper by considering specification for a mid-sized commercial passenger vehicle is proposed and mechanically designed. After manufacturing and assembling the proposed ER damper with design parameters, their performance such as field-dependent damping forces are experimentally measured. A quarter-vehicle ER ECS (Electronic Control Suspension) system consisting of the ER damper, sprung mass, spring, sky-hook controller and tire is constructed to analysis the ride comfort performances. Vertical tire stiffness with different tire pressure is experimentally measured and investigated. In addition, ride comfort analysis such as vertical acceleration root mean square (RMS) of sprung mass is investigated under bump road using quarter-vehicle test equipment.

• International Journal of Aeronautical and Space Sciences
• /
• 제17권4호
• /
• pp.551-564
• /
• 2016

High-speed flight vehicles (HSFVs) such as space launch vehicles and missiles undergo severe dynamic loads which are generated during the launch and in in-flight environments. A typical vehicle is composed of thin plate skin structures with high-performance electronic units sensitive to such vibratory loads. Such lightweight structures are then exposed to external dynamic loads which consist of random vibration, shock, and acoustic loads created under the operating environment. Three types of dynamic loads (acoustic loads, rocket motor self-induced excitation loads and aerodynamic fluctuating pressure loads) are considered as major components in this study. The estimation results are compared to the design specification (MIL-STD-810) to check the appropriateness. The objective of this paper is to study an estimation methodology which helps to establish design specification for the dynamic loads acting on both vehicle and electronic units at arbitrary locations inside the vehicle.