• Proceedings of the KIEE Conference
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• 1999.07a
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• pp.486-488
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• 1999

This paper shows the form of the optimal solution and how to minimize energy of train driving control using SA(simulated annealing). In this paper, we consider the case where a train is to be driven by automatic operation mode along a non-constant gradient, curve and with speed limits. Using the combinational optimal technique, SA, we constructed optimal train driving strategy.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.270-277
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• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.1
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• pp.174-183
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• 2005

A train driving requires to n the fixed distance within given time, and it is desirable to consume low energy if necessary. Reducing energy consumption depends on the train operation modes by either manual or automatic operation. In this article, an operation to reduce energy consumption by changing modes of train operation by a driver without changing the train operation requirement is investigated. The powering model, braking model and consumed energy calculation model are developed, then simulated by using a Matlab software. The accuracy of the train dynamic model established by the simulations is verified by comparing with the real experimental data. Several simulations by various operations in the real track are executed, then the desirable pattern of train driving is found.

• 한국신재생에너지학회:학술대회논문집
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• 2006.11a
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• pp.109-112
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• 2006

In the recent studies, various types of multi mode electric variable transmission for hybrid electric vehicle have been proposed. Multi mode electric variable transmission consists of two or more different type planetary gear hybrid powertrain system(PGHP), which can change its power flow type by means of clutches for improving transmission efficiencies. Generally the power flows can be classified into three different types such as Input split, output split nd compound split. In This paper, we present velocity and torque equations of the input-split powertrain and analyze its optimal Performances. There are six combinations of the input-split powertrain, each combination has various lever length. We find optimal planetary gear ratios for fuel economy and acceleration performance, and compare performances of each combination.

• 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.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.10
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• pp.161-167
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• 2001

This paper presents an approach to nonlinear engine idle controller and intake manifold absolute pressure(MAP) observer based on mean torque production model. A stable engine idle speed is important in that the unstable engine Idle mode can make engine to drooping or stall state. A sliding fuzzy controller has been designed to control engine idle speed under load disturbance. A sliding observer is also developed to estimate the intake manifold absolute pressure and compared with the actual MAP sensor value. The sliding mode observer has shown good robustness and good tracking performance. The inputs of sliding fuzzy controller are the errors of rpm and MAP. The output is a duty cycle(DC) for driving a idle speed control valve(ISCV).

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.33-37
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• 2004

To meet an increasing demand for high performance in gun dynamic plant, both a precise and a fast response positioning are strongly required for the gun servomechanism control. A mode switching control(MSC) system, which includes a fine stabilizing controller, fast positioning one and a switching function, is widely used to meet this requirement. Stabilization is performed through PID controller, while proximate time optimal servo(PTOS) is used for target designation. Because gun dynamic have large damping comparing to acceleration, PTOS algorithm with damping is newly derived. This paper adopts the initial value compensation method that improve the transient response after switching. Some simulation results are given to show the effectiveness of our scheme.

• Journal of Auto-vehicle Safety Association
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• v.11 no.3
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• pp.30-36
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• 2019

This paper suggests a car-following algorithm for urban environment, with multiple target candidates. Until now, advanced driver assistant systems (ADASs) and self-driving technologies have been researched to cope with diverse possible scenarios. Among them, car-following driving has been formed the groundwork of autonomous vehicle for its integrity and flexibility to other modes such as smart cruise system (SCC) and platooning. Although the field has a rich history, most researches has been focused on the shape of target trajectory, such as the order of interpolated polynomial, in simple single-lane situation. However, to introduce the car-following mode in urban environment, realistic situation should be reflected: multi-lane road, target's unstable driving tendency, obstacles. Therefore, the suggested car-following system includes both in-lane preceding vehicle and other factors such as side-lane targets. The algorithm is comprised of three parts: path candidate generation and optimal trajectory selection. In the first part, initial guesses of desired paths are calculated as polynomial function connecting host vehicle's state and vicinal vehicle's predicted future states. In the second part, final target trajectory is selected using quadratic cost function reflecting safeness, control input efficiency, and initial objective such as velocity. Finally, adjusted path and control input are calculated using model predictive control (MPC). The suggested algorithm's performance is verified using off-line simulation using Matlab; the results shows reasonable car-following motion planning.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.3
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• pp.85-97
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• 2000

In this paper, static and dynamic shift control stategies of CVT speed ratio are suggested. For the static shift control, in order to operate engine on the optimal operating region, a fuzzy control logic is used. In the fuzzy logic, S- factor that is defined as a degree of sportiness is introduced. Simulation results show that the static shift control strategy based on the fuzzy logic selects the optimal operating point automatically between the economy and the sporty mode corresponding to the driver's desire and the driving condition. For the dynamic shift control strategy, a shift speed map is suggested which determines the shift sped as fast or slow based on Δi, the difference between the desired speed ratio id and the actual speed ratio i, and throttle opening. It is seen from the simulation results that the CVT shift speed is determined by the dynamic shift control strategy to provide appropriate performance and comfort for the driver's demand and driving condition. Additionally, experiments are performed to investigate the dynamic performance of the shift speed for the lift foot up. From the experimental results, it is found that improved shift feeling can be obtained by the dynamic shift control strategy when lift foot up occurs.