• 대한교통학회지
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• 제29권6호
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• pp.107-116
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• 2011

본 연구에서는 수도권을 중심으로 구축 운영 중인 UTIS를 활용하여 버스의 서비스 개선 및 운행 효율성을 증진함과 동시에 일반 차량의 지체를 최소화하기 위한 버스 수요 기반의 TSP 제어 알고리즘을 개발하였다. 이를 위해 버스의 수요를 기반으로 버스 우선신호의 우선권 강도를 조정하는 알고리즘을 제안하였으며, 주도로의 버스 우선권 제공으로 인한 부도로의 지체 증가를 막기 위해 부도로의 포화도에 따른 우선권 강도를 조정하는 보상 알고리즘을 제안하였다. 또한 연구 결과를 CORSIM RTE를 활용할 HILS 기반의 평가시스템을 통해 효과 분석하여 현장의 적용 가능성을 검증하였다. 시뮬레이션 결과 버스의 통행시간은 10% 정도 개선 효과가 있었으나, 이 경우 전체차량의 제어지체에는 큰 영향을 받지 않음을 확인하였다. 이러한 연구 결과는 국내의 대중교통 활성화 정책에 기여할 것으로 기대된다.

• 한국항공우주학회지
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• 제50권12호
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• pp.857-866
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• 2022

고정익 UAV는 다른 항공기 플랫폼보다 항속거리와 항속시간에서 큰 이점을 가진다. 이러한 이유로 군에서 정찰용으로 많이 사용된다. 본 연구에서는 랜딩기어를 포함한 고정익 UAV의 모델링을 실시하고, 비행조종컴퓨터에 사용될 유도 및 제어기 설계 및 HILS 환경 구축을 실시하였다. 또한 이륙, 순항, 착륙의 모든 과정을 자동으로 수행하는 오토파일럿 시스템을 제작하였다. 연구에 사용한 고정익 UAV를 Datcom 및 AVL 공력해석 소프트웨어를 사용하여 공력계수를 추출하고 6자유도 모델링을 실시하였다. 비행조종컴퓨터는 항공기의 16개의 비행모드를 분별하여 Carrot Chasing 기반 유도 명령을 생성하는 유도기와 Nonlinear Dynamic Inversion 기법을 사용한 제어기로 구성되어있다. SIMULINK를 사용하여 구현된 모델링과 비행조종컴퓨터는 RTNgine을 사용하여 HILS 환경을 제작하여 고정익 UAV의 통합 시뮬레이션 환경을 제작하였다.

• 한국수소및신에너지학회논문집
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• 제25권4호
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• pp.405-418
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• 2014

Fuel cells are suitable for a power plant of a unmanned aerial vehicle (UAV) as it is not only environmentally friendly and quiet but also more efficient than an internal combustion engine. A fuel cell hybrid UAV has better performance in endurance than a fuel cell only or battery only UAV. One of the key purposes of making fuel cell hybrid UAVs is having long endurance and now maximum 26 hours of flight is possible. Because optimal design and control methods for fuel cell hybrid UAVs are absolutely needed for their long endurance we have to check the methods. The aircraft made by using application-integrated design method has less BOP mass and better performances. The optimal design and control methods are generally based on computer simulations or Hardware-In-The-Loop simulations by using dynamic models for their design and control. The Hardware-In-The-Loop simulation (HILS) is to use a hardware device like a fuel cell stack as well as a simulation program and it allows for making optimally designed applications. This paper introduce efficient methods of design, control and evaluation for the fuel cell hybrid UAVs.

• 한국자동차공학회논문집
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• 제20권3호
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• pp.37-44
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• 2012

In this paper, the application of robust fuel gauge algorithm in the external environment to general fuel gauge system is proposed. The proposed fuel gauge system is composed of two modules which are Moving Average Filter (MAF) and Inclination Filter (IF). They are used to show correctly the amount of fuel in the external environment which are curve road, slope or acceleration/deceleration driving. In parallel, verification and validation processes using Software In the Loop Simulation (SILS) in personal computer and Hardware In the Loop Simulation (HILS) similar to actual vehicle environments are established. Through this research, it turned out to be possible to operation of gauge become correct of external environment.

• 한국철도학회논문집
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• 제10권4호
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• pp.431-437
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• 2007

This paper describes the dynamic modeling of a railway vehicle when it is under braking force. It is important for the enhancement of braking performance to establish a proper dynamic model of a railway vehicle because the braking performance is affected by some dynamic forces generated by a railway vehicle when it undergoes braking. In this paper, a dynamic model for one vehicle is suggested to compute the dynamic behavior of a railway vehicle in the HILS(Hardware In-the-loop Simulation) system for the railway vehicle braking devices. To simplify the dynamic model, friction between a wheel and a rail is assumed that there exist only the static and the dynamic friction forces. Static friction coefficient is also assumed to be a function of the running speed. Some simulations are carried out with various braking forces, and the braking characteristics according to the change of the braking force are discussed. This study can provide some fundamental results to construct the HILS system for braking devices of a railway vehicle.

• 전력전자학회논문지
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• 제25권2호
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• pp.103-110
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• 2020

In this study, the design and operating strategy of DC home grid with PV, battery, and ultracapacitor have been discussed, The proposed sizing method can find the optimum size of the battery and PV which can reduce yearly utility energy consumption, whereas the control scheme can maintain the DC-bus voltage level of the DC home grid under different operating conditions, where day or night time operation, load and PV power levels, and the maximum current and state-of-charge of batter are considered. In addition, a supervisory power management strategy has been suggested, and its validity has been verified by HILS (hardware in-the-loop simulation) results.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2006년도 추계학술대회
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• pp.290-296
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• 2006

Control algorithms and implementation issues for a wind turbine simulator are presented for realistic emulation of variable wind characteristics using a lab-scale motor and generator set. When the average wind speed nd turbulence level is given, the torque reference of prime mover is decided through various blocks, such as random wind speed generator, blade characteristic curves, and tower effect compensation. The variable nature of wind can be implemented and tested by not only the computer simulation but also the hardware-in-loop-simulator (HILS). Some application examples of HILS include the development and test of turbine control software for more efficient and stable operation. Feasibility of the proposed simulator has verified by computer simulations and experiment.

• 전기학회논문지
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• 제59권12호
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• pp.2298-2305
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• 2010

The paper presents the Model Based Design(MBD) method which design and verify control algorithm for safety power window. Safety power window are required to work together with the anti-pinch function and have to meet FMVSS118 S5 requirements and equivalent ECC requirements. To meet the requirements, this paper presents the establishment of SILS and RCP environments. The design process can reduce time and support more performance-assured design. As a result of study, it met the regulations and achieved reaction force that close to common products.

• 한국항행학회논문지
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• 제8권2호
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• pp.105-111
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• 2004

최근의 무인항공기는 정찰임무를 비롯하여 무인기에 미사일을 장착하여 지대공 공격 임무를 수행하기까지 군용으로 뿐만 아니라 기상 관측, 해상 관측 등의 목적으로 폭넓게 활용하고 있으며, 점차 필요성이 높아지고 있다. 이러한 무인기는 정밀한 자세제어를 위하여 자세정보를 제공하는 AHRS와 같은 센서를 장착하는데 비용이 500만원 정도에서 고급 센서는 수 천 만원에 이르고 있다. 최근 한국항공우주연구원에서는 이러한 고가의 센서 출력정보인 자세각 정보를 사용하지 않고 각속도 정보를 기반으로 저가형 자동비행시스템을 개발하여 소형표적기와 무인표적기 비행시험을 통하여 성능을 입증하였다. 본 논문에서는 무인항공기의 항법시스템 설계를 위하여 목표로 하는 신뢰성을 충족시키면 동시에 저가형인 GPS 센서를 선택하기 위하여 Hardware in the Loop Simulation(HILS)을 통하여 GPS 출력주파수에 따른 성능을 확인하였다. 마지막으로 무인표적기에 자동비행시스템과 항법시스템을 장착하여 비행시험을 수행하였으며, 설계된 항법시스템 성능을 비행시험 결과를 통하여 확인하였다.

• 한국정밀공학회지
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• 제13권9호
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• pp.114-129
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• 1996

This paper describes the whole development phase for the underwater vehicle actuating system with high hydroload torque disturbance. This includes requirement analysis, system modeling, control algorithm design, real time implementation, test and performance evaluations. As for driving control algorithms, fuzzy logic, variable structure and PD(Proportional-Differential) algorithm were designed and implemented on board controller using a single chip microprocessor. Intel 8797. And test and performance evaluation is carried out both single test and wystem integration test. We could confirm the basic performance of actuating system through the single test and gereral developing work of any actuating systems was finished with a single performance test of actuating system without system integration test. But, we suggested that system integration test be needed. System integration test is carried out using G/C HILS(Guidance and Control Hardware-In-the -Loop Simulation) which is constituted flight motion simulator, load simulator, real time host computer and the related subsystems such as inertial navigation system, power supply system and Guidance and Control Computer etc.. The most important practical contribution of this paper is that full system characteristics such as minimal control effort, enhancement of guidance and autopilot performance by the actuating system using G/C HILS technique are investigated. Through full running G/C HILS, in spite of the passing to single tests, some control algorithm resulted in failure as to stability of full system and system time frame.