• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.120.3-120
• /
• 2002

1. Introduction $\textbullet$ Immune system is an evolutionary biological system to protect innumerable foreign materials such as virus, germ cell, and etc. Immune algorithm is the modeling of this system's response that has adaptation and reliableness when disturbance occur. $\textbullet$ In this paper, Immune algorithm is applied to the Steering Controller of AGV in container yard. $\textbullet$ And then the computer simulation result from the viewpoint of yaw rate and lateral displacement is analyzed and compared with result of conventional PID controller. 2. Dynamic Modeling of AGV $\textbullet$ Dynamic modeling has high degree of freedom. But, basic assumptions of this model are that the center of gravity(CG)...

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2002년도 하계학술대회 논문집 D
• /
• pp.2824-2826
• /
• 2002

Immune system is an evolutionary biological system to protect innumerable foreign materials such as virus, germ cell, and etcetera. Immune algorithm is the modeling of this systems response that has adaptation and reliability when disturbance occur. In this paper, immune algorithm is proposed to control four wheels steering AGV(Automated Guided Vehicle) in container yard. The adaptive immune system is applied to the PID controller. For design the PID controller using immune algorithm, we tune PID parameters by off-line manner, in order to avoid the damage from abrupt control force. Repeatedly, the PID parameters are adjusted to be accurate by on-line fine tuner of immune algorithm. And then the computer simulation result from the viewpoint of yaw rate and lateral displacement are analyzed and compared with result of conventional PID controller.

• 한국유체기계학회 논문집
• /
• 제10권6호
• /
• pp.24-31
• /
• 2007

In the present study, the effects of the design factors and operating conditions on flow characteristics of a vane pump for the automotive power steering system has been analyzed numerically. An unsteady moving mesh technique with cell expansion/contraction method is used to simulate the rotation of vanes with respect to stationary inlet and outlet. As a result, the flow characteristics of the flow rate and pressure rise across the vane pump were obtained. The numerical analyses for the various design factors such as number of vanes and thickness between the rotor and camring and for various operating conditions such as rotational speed and pressure difference between inlet and outlet were extensively performed. And the results were discussed in the paper.

• 한국정밀공학회지
• /
• 제20권6호
• /
• pp.37-46
• /
• 2003

This paper is to predict quality deterioration resulting from a caulking process of yoke which is a part of automotive steering system. The caluking is a plastic deformation process involving such as impact of high speed tool, contacts between part and fixtures and strain rate sensitivity of the part material. Elaborate application of finite element method is neccesary to calculate changes of part dimensions because they fall into a level of tolerances. Simple work hardening and strain rate sensitive model is proposed fur the material and applied for the simulation by using Abaqus which is able to cater for elastoplastic rate sensitive material and contacts. Numerical results of test models that represent tensile bar and tensile plate are compared with material data inputs. Dimensional changes for the yoke are calculated from simulations and compared to the mesurements and they show good agreement. The method presented here with the material model proved to be valuable to assess quality deterioration for similar metal forming processes.

• 한국안전학회지
• /
• 제32권3호
• /
• pp.151-159
• /
• 2017

This study deals with characteristics and risk of a PM based on user survey result, road driving test and data analysis of PM accident. Text mining method is applied to extract PM accident data from Big Data, which are claim data of private insurance company. Road driving test and survey on safety, convenience, noise, overtake ability, steering ability, and climbing ability of PM are performed to evaluate user's safety and convenience considering domestic road condition. As the result of claim data analysis, annual average increase rate of PM accident is 47.4% and average compensation of personal mobility is higher than that of bicycle by maximum 1.5 times. 79.8% of PM accident is self-caused accident due to unskilled driving and age-specific diagnosis rate of driver over 60 is higher than that of under 60. Diagnosis rate of over 60 at lower limb, foot, rib and spine is especially higher than that of under 60. As the result of road driving test and user survey, satisfaction level on safety and convenience of PM is evaluated as close to that of bicycle and satisfaction level of PM is increased after boarding. Overtake ability, steering ability, and climbing ability of PM are evaluated as same or better than that of bicycle but warning equipment to pedestrian or bike such as horn is required because noise level of PM during driving is too low. Finally, user survey result shows that bicycle road is suitable for PM and safety standard, advance-education and insurance are required for PM. It is suggested that drivers' license for PM can be replaced by advance-education. Results of this study can be used to prepare safety measures and legal basis for PM operation.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.156.1-156
• /
• 2001

It is observed that if the 2-gimballed seeker is stabilized using rate gyros mounted along its primary axis, line of sight change measured in the seeker is induced by the rolling due to the bank-to-turn(BTT) steering as well as the actual change. This body-coupling within BTT homing includes the spurious target maneuver effect and the coupling loop due to the rate gyro misalignment. In this paper we formulates the linear BTT homing loop model with a 2-gimballed seeker including those body-coupling effects. With the model, we analyze the effects of the couplings, and show that the roll rate coupling to the rate gyro for the stabilztion of gimbal could seriously deteriorate the homing loop stability. And we propose a direct linear compensator for the coupling to recover the stability.

• Journal of Mechanical Science and Technology
• /
• 제16권3호
• /
• pp.338-343
• /
• 2002

In the autonomous vehicle, the reference lane is continually detected by machine vision system. And then the vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between a vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, PI controller is introduced by yaw rate feedback and tuned from the simulation where the vehicle is modeled as 2 DOF and 79 DOF and verified by the results of an actual vehicle test. The lateral control algorithm by yaw rate feedback has good performances of lane tracking and passenger comfort.

• 한국추진공학회:학술대회논문집
• /
• 한국추진공학회 2008년 영문 학술대회
• /
• pp.574-578
• /
• 2008

In order to achieve thrust vector control and discharge stabilization in Hall thrusters, the azimuthal nonuniformity of propellant flow rate in an acceleration channel was created. A plenum chamber was divided into two rooms by two walls and propellant flow rate supplied to each section was independently controlled. In a magnetic layer type Hall thruster, steering angle of up to ${\pm}2.3$ degree was achieved. In an anode layer type Hall thruster, discharge current oscillation amplitude was decreased with the normalized differential mass flow rate.

• 한국자동차공학회논문집
• /
• 제19권6호
• /
• pp.30-36
• /
• 2011

The current test methods are insufficient to evaluate and ensure the safety and reliability of vehicle system for all possible dynamic situation including the worst case such as rollover, spin-out and so on. Although the known NHTSA Sine with dwell steering maneuvers are applied for the vehicle performance assessment, they aren't enough to estimate other possible worst case scenarios. Therefore, it is crucial for us to verify the various worst cases including the existing severe steering maneuvers. This paper includes useful worst case based upon the existing worst case scenarios mentioned above and worst case evaluation for vehicle dynamic controller in simulation basis and UCC HILS. The only human steering angle is selected as a design parameter here and optimized to maximize the index function to be expressed in terms of both yaw rate and side slip angle. The obtained scenarios were enough to generate the worst case to meet NHTSA worst case definition. It has been concluded that the new procedure in this paper is adequate to create other feasible worst case scenarios for a vehicle dynamic control system.

• 한국항해항만학회지
• /
• 제33권1호
• /
• pp.35-41
• /
• 2009

워터젯이 탑재된 RIB(Rigid Inflatable Boat)형태의 무인수상선을 인한 경유점 추적 제어 알고리즘을 설계하였고, 성능 검증을 위해 실해역 시험을 수행하였다. 본 연구에서 사용된 RIB형 무인수상선의 경유점 추적제어를 위해서는 방향제어를 위해 버킷각을 제어하여야 한다. 우선, 육상 관제소에 미리 입력된 경유점들의 위경도 등의 위치정보들을 바탕으로, 목표 방향각을 실시간 계산한다. 그리고, 무인수상선에 탑재된 마그네틱 콤파스 등의 센서로부터 받은 선수각 및 선수각속도의 값과 PD 제어기법을 이용하여, 버킷각 명령을 실시간 계산한다. 본 연구에서는, 바람 등의 외력으로 인한 표류각을 보정하기 위해 일정속도 이상에서는 실침로(Course Of Ground, COG)를 사용하였다. 또한, 설계된 경유점 추적 제어 알고리즘을 검증하기 위해 부산 광안대교 근처 해역에서 육상관제소를 설치하고, 실선 시험을 수행하였다. 본 논문에서는, 설계된 무인 경유점 추적 제어 알고리즘의 시험결과를, 유인으로 제어한 결과 및 상용추적제어기로 제어한 결과들과 비교 분석하였다.