• Title/Summary/Keyword: Vehicle Dynamic Control System

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Development of Autonomous Navigation System Using Simulation Based on Unity-ROS (Unity-ROS 시뮬레이터 기반의 자율운항 시스템 개발 및 검증)

  • Kiwon Kim;Hyuntae Bang;Jeonghwa Seo;Wonkeun Youn
    • Journal of the Society of Naval Architects of Korea
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    • v.60 no.6
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    • pp.406-415
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    • 2023
  • In this study, we focused on developing and verifying ship collision avoidance algorithms using Unity simulator and ROS(Robot Operating System). ROS is used to establish an environment where communication between different operating systems is possible, and a dynamic model of a ship is constructed within Unity simulator. The Lidar data collected in Unity environment is passed to the system based on python through ROS. In the system based on python, control command values were created through the logic of the collision avoidance algorithm using data, and the values were transferred back to Unity to control the movement of the virtual ship. Through the developed simulation system, the reliability of the collision avoidance algorithm of ships with two different forms in an environment similar to the actual physical world was confirmed. As a result, it was confirmed on the simulator that it could be avoided without collision even in an environment with various types of obstacles, and that the avoidance characteristics according to the dynamics of the ship could be analyzed.

Adaptive Variable Angle Control in Switched Reluctance Motor Drives for Electric Vehicle Applications

  • Cheng, He;Chen, Hao;Xu, Shaohui;Yang, Shunyao
    • Journal of Power Electronics
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    • v.17 no.6
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    • pp.1512-1522
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    • 2017
  • Switched reluctance motor (SRM) is suitable for electric vehicle (EV) applications with the advantages of simple structure, good overload capability, and inherent fault-tolerance performance. The SRM dynamic simulation model is built based on torque, voltage, and flux linkage equations. The EV model is built on the basis of the analysis of forces acting on a vehicle. The entire speed range of the SRM drive is then divided into constant torque and constant power areas. The command torque of the motor drive system is given according to the accelerator pedal coefficient and motor operation areas. A novel adaptive variable angle control is proposed to avoid the switching chattering between the current chopping control and angle position control modes in SRM drives for EV applications. Finally, simulation analysis and experimental results are conducted to verify the accuracy of the proposed simulation model and control strategy.

A Study of the Control System on the Manta-type UUV (만타형 UUV의 제어기 설계에 관한 연구)

  • Kim, Hyeong-Dong;Kim, Joon-Young;Kim, Si-Hong;Lee, Seung-Keon
    • Journal of Navigation and Port Research
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    • v.35 no.5
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    • pp.359-363
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    • 2011
  • In this paper, automatic control system for the Manta UUV are constructed for the diving and steering maneuver. PID controller and Fuzzy controller are adopted in this system. Based on the 6DOF dynamic equation, simulation program has been developed using the Matlab. Using this program, depth control system and heading control system with tidal current are evaluated.

Hydraulic System Simulation and Vehicle Dynamic Modeling for the Analysis and Development of Tire Roller Prototype (유압 구동식 타이어 로울러 Prototype의 유압 시스템 설계 및 차량 동역학적 모델링)

  • 박춘식;김준호;김상겸;김정하
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.137-137
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    • 2000
  • In this research. we developed Tire Roller Prototype which is operated hydraulic transmission system. For develop the theoretically computer aided system, we practiced the simulation of hydraulic system and dynamic modeling and will compare with the experiment results of Tire Roller Prototype. We conceptualize the new hydraulic system and derive the equations of motion for dynamic analysis. Finally, we will design the controller, which can manage the hydraulic circuit of servo mechanism system. We define new hydraulic system and integrate modeling of Tire Roller through simulation of h\ulcornerdraulic system and design of controller. From above procedure. Hydraulic transmission system characteristics and target performance can be investigated. To follow the required performance, we select the parts of Tire Roller. We manufactured the prototype of Tire Roller, and will install the equipment for experiment.

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A Numerical Study of New Vehicle Hydraulic Lift Activation by a Magneto-rheological Valve System for Precise Position Control (정밀 위치 제어를 위해 MR 밸브 시스템을 활용한 차량 유압 리프트에 대한 수치해석적 고찰)

  • Lee, TaeHoon;Park, Jhin-Ha;Choi, Seung-Bok;Shin, Cheol-Soo;Choi, Ji-Young
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.27 no.1
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    • pp.28-35
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    • 2017
  • Recently, conventional hydraulic car lift systems face the technological limitations due to a lack of height control. The demand for height controllability is required in many tasks such as wheel alignment, and requires compensation for the structural deformation of the lift caused by irregular load distribution. In order to resolve this limitation of the conventional car lift, in this work, a new type of a hydraulic vehicle lift using a magneto-rheological (MR) valve system is proposed and analyzed. Firstly, the dynamic model of vehicle lift is formulated to evaluate control performance; subsequently, an MR valve is designed to obtain the desired pressure drop required in the car lift. Next, a proportional-integral-derivative (PID) controller is formulated to achieve accurate control of the lifting height and then computer simulations are undertaken to show accurate height control performances of the proposed new car lift system.

Design of a Low-Cost Attitude Determination GPS/INS Integrated Navigation System for a UAV (Unmanned Aerial Vehicle) (무인 비행체용 저가의 ADGPS/INS 통합 항법 시스템)

  • Oh Sang Heon;Lee Sang Jeong;Park Chansik;Hwang Dong-Hwan
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.7
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    • pp.633-643
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    • 2005
  • An unmanned aerial vehicle (UAV) is an aircraft controlled by .emote commands from ground station and/o. pre-programmed onboard autopilot system. A navigation system in the UAV provides a navigation data for a flight control computer(FCC). The FCC requires accurate and reliable position, velocity and attitude information for guidance and control. This paper proposes an ADGPS/INS integrated navigation system for a UAV. The proposed navigation system comprises an attitude determination GPS (ADGPS) receive., a navigation computer unit, and a low-cost commercial MEMS inertial measurement unit(IMU). The navigation algorithm contains a fault detection and isolation (FDI) function fur integrity. In order to evaluate the performance of the proposed navigation system, two flight tests were preformed using a small aircraft. The first flight test was carried out to confirm fundamental operation of the proposed navigation system and to check the effectiveness of the FDI algorithm. In the second flight test, the navigation performance and the benefit of the GPS attitude information were checked in a high dynamic environment. The flight test results show that the proposed ADGPS/INS integrated navigation system gives a reliable performance even when anomalous GPS data is provided and better navigation performance than a conventional GPS/INS integration unit.

A Study on Vehicle Ego-motion Estimation by Optimizing a Vehicle Platform (차량 플랫폼에 최적화한 자차량 에고 모션 추정에 관한 연구)

  • Song, Moon-Hyung;Shin, Dong-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.21 no.9
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    • pp.818-826
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    • 2015
  • This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.

Study of Driving Stability Performance of 2-Wheeled Independently Driven Vehicle Using Electric Corner Module (전동 통합 샤시를 이용한 2륜 독립구동 차량의 선회성능 향상에 관한 연구)

  • Park, Jinhyun;Choi, Jeonghun;Song, Hyeonwoo;Hwang, Sung-Ho
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.37 no.7
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    • pp.937-943
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    • 2013
  • An independently driven electric corner module cannot be applied to an actual vehicle without some difficulty, because of vehicle safety problems in the case of malfunctions and degraded ride and handling performance owing to the increase in the unsprung mass. In this study, a simulator is developed to evaluate the vehicle driving performance in order to solve ride and handling problems. Component modeling of a small-sized electric vehicle with an independently driven electric corner module is performed using MATLAB/Simulink. The vehicle is modeled by using CarSim, which can be used to analyze the vehicle maneuvers with 27 DOFs. The control algorithm for the improvement of vehicle driving safety and ride and handling performance is validated by using the developed simulator.

Tank Pressure Control of PWM Sol V/V for Thrust Control of Launch Vehicle (발사체 추력제어 안정성을 위한 PWM 솔밸브의 탱크압력제어)

  • Lee, Joong-Youp;Hong, Moon-Geun;Han, Sang-Yeop;Kim, Young-Mog
    • 유체기계공업학회:학술대회논문집
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    • 2006.08a
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    • pp.565-568
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    • 2006
  • This paper achieved dynamic characteristics with test to use solenoid valve for flight model that have present. Designed pressure control virtual system which PWM solenoid valve to use test result. Examination compared solenoid valve dynamic characteristics in atmosphere and cryogenic fluid and presented technique and valuation method that measured upstream and down stream pressure of solenoid valve, as well as, temperature, excitation voltage etc. These test results could confirm solenoid valve response time and maximum using frequency characteristic at use in atmosphere and cryogenic temperature and this derived design variables pressure control system from those bases.

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Development of the All-Wheel-Steering Algorithm using Dynamic Analysis of the Bi-modal Vehicle (저상굴절차량의 주행해석을 이용한 전차륜 조향 알고리즘 개발)

  • Jeon, Yong-Ho;Park, Tae-Won;Lee, Soo-Ho;Kim, Duk-Gie;Moon, Kyung-Ho
    • Transactions of the Korean Society of Automotive Engineers
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    • v.16 no.1
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    • pp.144-151
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    • 2008
  • The bi-modal vehicle is composed of two car-bodies and three axles. Each axle of the vehicle has an independent suspension and all wheels are steerable. Since the bi-modal vehicle has longer wheelbase than most urban buses, the All-Wheel-Steering(AWS) system is adapted for to ensure safe driving and proper turning radius on a curved road. This paper proposes an AWS control algorithm for stable driving of bi-modal vehicle. Steering angles and directions of each axle of bi-modal vehicle changed according to the driving environment and steering modes. In the case that front and rear axles should be steered in opposite directions is a negative mode, and the other case that the axles should be steered in the same direction is a positive mode. For example, in the positive mode, front and real axles are steered in the same direction, while in the negative mode, they are steered in the opposite direction. A multibody model of the vehicle is used to verify the performance of the steering algorithm and simulation results of 2WS are compared with those of AWS under the same condition.