• 한국자동차공학회논문집
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• 제21권5호
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• pp.25-33
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• 2013

All-wheel steering (AWS) system is applied to articulated vehicles to reduce turning radius. The swing-out suppression algorithm is applied to AWS ECU, a key component of AWS system. The swing-out suppression algorithm applied to AWS ECU has a problem when velocity of vehicle is changed. In this paper, new algorithm based on moving distance that solve velocity problem is proposed. The HILS simulation and the test articulated bus is used to validate algorithm.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2017년도 추계학술발표대회
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• pp.526-529
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• 2017

Deep Drive 플랫폼 개발 기술인 HILS(Hardware In the Loop Simulation)는 시스템 모델에 근간을 둔 실시간 시뮬레이션 기법과 H/W를 접목시킨 실시간 해석 기법으로, 플랫폼 개발으로 현재는 난해성이 있는 자율 주행 자동차 실차의 테스트 베드를 구현하여, 여러 가지 실험을 통해 실제 차의 운행에 대한 피드백을 제공, 운전자로부터 안전을 보장하기 위한 기술 보장, 기술의 상용화, 양산화 연구에 도움을 줄수 있음.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1786-1790
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• 2004

The main objective of this paper is to analyze the performance of various force control algorithms in improving and adjusting the compliance of industrial robots in contact with their environment. Some of fundamental force control algorithms such as sensorless control, impedance control and hybrid position/force control are theoretically analyzed and simulated for various situations of an environment, and then a series of experiments using them were performed. In this paper, a control scheme to use position control in implementing the impedance control was investigated in order to nullify the effect of joint friction. The new reference trajectory is generated using contact force feedback and original desired trajectory. And an inner position control loop is designed to provide accurate position tracking for the new reference trajectory and good disturbance rejection. Experiments to insert a peg in a hole (so-called the peg-in-a-hole task) were performed with HILS (hardware-in-theloop simulation) system based on the results of the analyses and simulations on the characteristics of each control algorithm. The experiments showed that various force control methods improved the performance of robots in close contact with the environment by adjusting their compliance with respect to an arbitrary set of coordinates.

• 한국군사과학기술학회지
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• 제21권5호
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• pp.623-629
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• 2018

The acceleration and the angular velocity that include natural frequencies of a missile detected by Inertial Measurement Unit(IMU) are transmitted to the control loop of a missile. The control loop command that is calculated using above signals can cause the resonance of the missile while it flies. Hence it is common to adapt the filter and the control loop for attenuating or eliminating the undesired signals such as natural frequencies. This paper introduces the new test technique using a floating system for performance evaluation of the designed filter and the control loop prior to a flight test. The proposed scheme can check out the degradation property of vibration in the filter and the control loop, while the conventional hardware-in-the-loop simulation(HILS) scheme cannot.

• 한국자동차공학회논문집
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• 제8권4호
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• pp.169-176
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• 2000

Longitudinal and lateral forces acting on tires are known to be closely related to the tract-ability braking characteristics handling stability and maneuverability of ground vehicles. In thie paper in order to develop tire force monitoring systems a monitoring model is proposed utilizing not only the vehicle dynamics but also the roll motion. Based on the monitoring model three monitoring systems are developed to estimate the tire force acting on each tire. Two monitoring systems are designed utilizing the conventional estimation techniques such as SMO(Sliding Mode Observer) and EKF(Extended Kalman Filter). An additional monitoring system is designed based on a new SKFMEC(Scaled Kalman Filter with Model Error Compensator) technique which is developed to improve the performance of EKF method. Tire force estimation performance of the three monitoring systems is compared in the Matlab simulations where true tire force data is generated from a 14 DOF vehicle model with the combined-slip Magic Formula tire model. The built in our Lab. simulation results show that the SKFMEC method gives the best performance when the driving and road conditions are perturbed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.535-538
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• 2005

Today, most fixed-wing aircrafts are equipped with the antiskid brake system. It can modulate braking moments in the wheels optimally, when an aircraft is landing. So it can reduce landing distance and increase safeties. The antiskid brake system for an aircraft are mainly composed of braking moment modulators (hydraulic control valves) and brake control unit. In this paper, a Mark IV type - fully digital - brake controller is studied. For the development of its control algorithms, a 5-DOF (Degree of Freedom) aircraft landing model is composed in the form of matlab/simulink model at first. Then, braking moment control algorithms using wheel decelerations and slips are made. The developed algorithms are tested in software simulations using state-flow toolboxes in matlab/simulink model. Also, a real-time simulation systems are made, which use hydraulic brake systems of a real aircraft, pressure control valves and its controller as hardware components of HIL(Hardware In-the-Loop) simulation. Algorithms tested in software simulations are coded into the controller and the real-time landing simulations are made in very severe road conditions. The real-time simulation results are presented.

• 한국분무공학회지
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• 제16권2호
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• pp.76-81
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• 2011

A fuel injection system which is operated with a real vehicle driving simulation was developed as an alternative to a vehicle test for the fuel injectors. The sensor signals that are supplied to the ECU were measured and recorded as a data file for a vehicle driven in FTP-75 mode in a chassis dynamometer. The imperative sensor signals of the throttle position, vehicle speed, engine speed, crank position, cam position, intake air flow, and cooling water and intake air temperature were reconstructed using FPGA DAQ boards and a PXI computer. The scanning results showed good agreement with the input signals that were reconstructed. The ECU HILS system operated successfully to drive six fuel injectors, which injected fuel in the same pattern as if they were mounted in the vehicle driven in FTP-75 mode. Also, the fuel injection system developed in this research shows the possibility of application in evaluating the characteristics of fuel injection rate for injectors according to properties of injected fuel with the real driving mode of vehicles.

• 한국자동차공학회논문집
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• 제9권6호
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• pp.186-194
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• 2001

To meet the challenge of testing increasingly complex automotive control systems, the real-time hardware-in-the-loop(HIL) simulation technology has been developed. In this paper, a strategy for evaluation of semiactive suspension systems using real-time HIL simulation is presented. A multibody vehicle model is adopted to simulate vehicle dynamic motions accurately. Accuracy of the vehicle simulation results is compared to that of the real vehicle field test and proven to be very accurate. The controller and stepping motor to adjust semi-active damper stage are equipped as external hardwares and connected to the real-time computer which has vehicle dynamic model. Open and closed loop test methods are used to evaluate a controlled suspension system and the system's operations are verified it is found that the proposed evaluation methods can be used well for the verification of semi-active suspension systems.

• 한국자동차공학회논문집
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• 제17권1호
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• pp.162-168
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• 2009

The real-time multibody vehicle model based on the subsystem synthesis method has been developed. Suspension, anti roll bar, steering, and tire subsystem models have been developed for vehicle dynamics. The compliance effect from bush element has been considered using a quasi-static method to achieve the real time requirement. To validate the developed vehicle model, a quarter car and a full vehicle simulations have been carried out comparing simulation results with those from the ADAMS vehicle model. Real time capability has been also validated by measuring CPU time of the simulation results.

• 한국자동차공학회논문집
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• 제17권1호
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• pp.50-57
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• 2009

Lane Keeping Assistant Systems (LKAS) require the cooperative operation between drivers and active steering angle/torque controllers. An LKAS is proposed in this study such that the desired reference path generation (DRPG) system generates the desired path to minimize the trajectory overshoot. Based on the reference path from the DRPG system, an optimal controller is designed to minimize the cost function. A HIL (Hardware In the Loop) simulator is constructed to evaluate the proposed LKAS system. The single camera is mounted on the simulator and acquires the monitor images to detect lane markers. The performance of the proposed system is evaluated by HIL system using the Carsim and the Matlab Simulink.