• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.5
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• pp.417-423
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• 2002

In this paper, we propose intelligent steering control system that apply LIBL(Linguistic Instruction Based Learning) method to steering system of ship and take the place of process that linguistic instruction such as officer s steering instruction is achieved via ableman. We embody ableman s suitable steering manufacturing model using fuzzy inference rule by specific method of study, and apply LIBL method to present suitable meaning element and evaluation rule to steering system of ship, embody intelligent steering gear control system that respond more efficiently on officer s linguistic instruction. We presented evaluation rule to constructed steering manufacturing model based on ableman s experience, and propose rudder angle for steering system, compass bearing arrival time, meaning element of stationary state, and correct ableman manufacturing model rule using fuzzy inference. Also, we apply LIBL method to ship control simulator and confirmed the effectiveness.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.12a
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• pp.93-97
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• 2002

In this paper, we propose intelligent steering control system that apply LIBL(Linguistic Instruction Based Learning) method to steering system of ship and take the place of process that linguistic instruction such as officer's steering instruction is achieved via ableman. We embody ableman's suitable steering manufacturing model using fuzzy inference rule by specific method of study, and apply LIBL method to present suitable meaning element and evaluation rule to steering system of ship, embody intelligent steering gear control system that respond more efficiently on officer's linguistic instruction. We presented evaluation rule to constructed steering manufacturing model based on ableman's experience, and propose rudder angle for steering system, compass bearing arrival time, meaning element of stationary state, and correct ableman manufacturing model rule using fuzzy inference. Also, we apply LIBL method to ship control simulator and confirmed the effectiveness.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.406-413
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• 2007

This paper proposes a self-recurrent wavelet neural network(SRWNN) based adaptive backstepping control technique for the robust steering control of autonomous underwater vehicles(AUVs) with unknown model uncertainties and external disturbance. The SRWNN, which has the properties such as fast convergence and simple structure, is used as the uncertainty observer of the steering model of AUV. The adaptation laws for the weights of SRWNN and reconstruction error compensator are induced from the Lyapunov stability theorem, which are used for the on-line control of AUV. Finally, simulation results for steering control of an AUV with unknown model uncertainties and external disturbance are included to illustrate the effectiveness of the proposed method.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.36 no.1
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• pp.25-32
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• 2000

A combination steering system was designed to provide the flexibility in controlling the steering wheel in fishing operations of the inshore and coastal fishing vessels. The designed steering system basically is consisted of three driving units, such as a electrically driven hydraulic pump unit with a solenoid control valve, a DC motor driven hydraulic pump unit and a manually driven hydraulic pump unit, and two controllers to provide remote steering on the deck, respectively. The steering torque was measured and analyzed to investigate the dynamic performance of the developed steering system. The steering system showed excellent linearity between the working pressure of cylinder and the torque of rudder post in case of increasing in rudder angle from $5^{\circ} to 35^{\circ}$ that is, the steering torque increased from $10.4 kgf{\cdot}m$ to $105.3 kgf{\cdot}m$ and then the working pressure of cylinder fluctuated from 6.3 kgf/cm super(2) to 16.4 kgf/cm super(2). The steering time of 3.2 sec in remote hydraulic steering by the on/off solenoid valve control was much faster than 13.2 sec in the manual steering by the helmsman and 11.6 sec in the electric steering by a DC motor, and then it was verified that operation of one unit does not affect other units in combination steering system in any way. Furthermore, the developed steering system can be remotely controlled in multiple stations of the deck during the fishing operation and the automatic pilot steering unit can be used to add hydraulic steering.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.4
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• pp.12-24
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• 1997

An intelligent steering control system is designed for the steering control of a 4 wheel drive (4WD) electric vehicles without steering mechanism, where the vehicle is assumed to have 3 degree of freedom and input-output feedback linearization is employed. Especially, a fuzzy-rule-based side force estimator is suggested to avoid uncertain highlynonlinearexpression sof relations between side forces and their factors. Also, aneural-network-based predictive compensator is additionally utilized for the vehicle model to be correctly controlled with unstructured uncertainties. The proposed overall control system is numerically shown to be robust against drastic change of the external environments.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.353-356
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• 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.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.4
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• pp.10-15
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• 2019

In this paper, we report a robust steering control using time delay control for the vehicle dynamics variation due to tire/road contact condition variation, the lateral disturbance force due to the side wind, and the yaw disturbance moment due to the difference between the left and right tires' pneumatic pressure. We controlled the side slip and yaw damping compensation for rapid steering at the high velocity of the vehicle. Based on the developed control, the driver can only consider the desired path without concerning on the vehicle dynamics variation, disturbances, and undesired side slip and yaw oscillations. Simulation results show that robustness from the vehicle dynamics variation and disturbances was achieved by using the developed time delay control. We evaluated the side slip and yaw damping compensation capability for the rapid steering at the high velocity of the vehicle in the cases of three control methods.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.313-320
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• 2011

Multi-axle driving vehicles that are used in special environments require high driving performance, steering performance, and stability. Among these vehicles, 6WS/6WD vehicles with middle wheels have structural safety by distributing the load and reducing the pitch angle during rapid acceleration and braking. 6WS/6WD vehicles are favored for military use in off road operations because of their high maneuverability and mobility on extreme terrains and obstacles. 6WD vehicles that using in-wheel motor can generate the independent wheel torque without other mechanical parts. Conventional vehicles, however, cannot generate an opposite driving force at each side wheel. Using an independent steering and driving system, six-wheel vehicles can show better performance than conventional vehicles. Using of independent steering and driving system, the 6 wheel vehicle can improve a performance better than conventional vehicle. This vehicle enhances the maneuverability under low speed and the stability at high speed. This paper describes an independent 6WS/6WD vehicle, consists of three parts; Vehicle Model, Control Algorithm for 6WS/6WD and Simulation. First, vehicle model is application of TruckSim software for 6WS and 6WD. Second, control algorithm describes the optimum tire force distribution method in view of energy saving. Last is simulation and verification.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.6
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• pp.222-228
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• 2003

Lane departure avoidance system is one of the key technologies for the future active-safety passenger cars. The lane departure avoidance system is composed of two subsystems; lane sensing algorithm and active-steering controller. In this paper, the road image is obtained by vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active-steering controller is designed to prevent the lane departure. The developed active-steering controller can be realized by steer-by-wire actuator. The lane-sensing algorithm and active-steering controller are implemented into the steering HILS(Hardware-In-the-Loop Simulation) and their performance is evaluated with a human driver in the loop.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.6 s.249
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• pp.684-690
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• 2006

This study proposes and validates a new column type electric power steering system (EPS-TT). It is driven by a uni-directional motor and two electro-magnetic clutches. The assist motor produces assist torque in only one direction and two clutches transmit the torque to the column of steering system in either left or right direction with respect to the steering input. A full order and a reduced order models are developed to evaluate the EPS-TT. Models are also used to investigate the vehicle responses. A PID control logic is designed to control the torque of the assist motor. A driver model is applied to the system and the resulting performances are analyzed. The results show that the performances of the full order model are similar to those of reduced order model. The results also prove that the performances achieved by the EPS-TT are improved compared to those of a conventional EPS-TT across the frequency domain.