• 센서학회지
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• 제26권6호
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• pp.432-437
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• 2017

As 4.0 industry has been developed, research on a self-driving car technology and related parts of an automobile has been highly investigated recently. Particularly, a TAS(Torque Angle Sensor) module on steering wheel system has been considered as a key technology because of its precise angle, torque detection and high speed signal processing. The environmental assessment is generally required on the TAS module to examine high resolution of angle/torque detection. In the case of existing TAS module, angle detection errors has been occurred by back-lash on main and sub gear in addition to complicated structure caused by gears. In this paper, a structure of the TAS module, which minimizes the numbers of components and angle detection errors on the module compared with the existing TAS module, for vehicle steering system based on a Multi-track Encoder has been proposed. Also, angle detection signal processing board, and key technology of the TAS module were fabricated and evaluated. As a result of the experiments, we confirmed an excellent performance of the fabricated signal processing board for angle detection and an applicability of the fabricated angle detection board on the TAS module of vehicles by the environmental assessment an automobile standard.

• 동력기계공학회지
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• 제17권3호
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• pp.72-81
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• 2013

Many articles have been published about a 2-degree of freedom model that includes the lateral and yaw motions for controller synthesis in intelligent transport system applications. In this paper, a 3-degree of freedom linear model that includes the roll motion is developed to design a robust steering controller for lane following maneuvers using ${\mu}$-synthesis. This linear perturbed system includes a set of parametric uncertainties in cornering stiffness and unmodelled dynamics in steering actuators. The state-space model with parametric uncertainties is represented in linear fractional transformation form. Design purpose can be obtained by properly choosing the frequency dependent weighting functions. The objective of this study is to keep the tracking error and steering input energy small in the presence of variations of the cornering stiffness coefficients. Furthermore, good ride quality has to be achieved against these uncertainties. Frequency-domain analyses and time-domain numerical simulations are carried out in order to evaluate these performance specifications of a given vehicle system. Finally, the simulation results indicate that the proposed robust controller achieves good performance over a wide range of uncertainty for the given maneuvers.

• 한국항해항만학회지
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• 제33권1호
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• pp.35-41
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• 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.

• 한국자동차공학회논문집
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• 제8권4호
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• pp.194-201
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• 2000

It is called vehicle pull when a vehicle drifts in the lateral direction under the straight-ahead motion with no steering or external input. Recently vehicle pull draws attention as one of the critical evaluation items from the customers on the vehicle quality. It is generally recognized that the vehicle pull is complex phenomena due to internal and external factors. In this paper the relations between vehicle pull and ire were investigated through close survey on the road test results from the final inspection of car manufactures. Through this investigation the factors are identified which play an important role in causing vehicle pull problem.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1103-1108
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• 2007

This paper describes a robust model-based roll state estimator for application to the detection of impending vehicle rollover. The roll state estimator is based on a 2-D bicycle model and a roll model to estimate the maneuver-induced vehicle roll motion. The measurement signals are lateral acceleration, yaw rate, steering angle, and vehicle speed. Vehicle mass is adapted to obtain robust performance of the estimator. Computer simulation is conducted to evaluate the proposed roll state estimator by using a validated vehicle simulator. It is shown that the roll state estimator shows robust performance without exact vehicle mass information.

• 한국자동차공학회논문집
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• 제11권5호
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• pp.183-192
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• 2003

Obstacle detection and avoidance are considered as one of the key technologies on an unmanned vehicle system. In this paper, we propose a method of obstacle detection and avoidance and it is composed of vehicle control, modeling, and sensor experiments. Obstacle detection and avoidance consist of two parts: one is longitudinal control system for acceleration and deceleration and the other is lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control system of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are evaluated through road tests.

• Journal of Biosystems Engineering
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• 제33권6호
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• pp.423-429
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• 2008

This study was performed to investigate the effects of inertial navigation system (INS) / global positioning system (GPS) sensor fusion for agricultural vehicle navigation. An extended Kalman filter algorithm was adopted for INS/GPS sensor fusion in an integrated mode, and the vehicle dynamic model was used instead of the navigation state error model. The INS/GPS system was consisted of a low-cost gyroscope, an odometer and a GPS receiver, and its performance was tested through computer simulations. When measurement noises of GPS receiver were 10, 1.0, 0.5, and 0.2 m ($1{\sigma}$), RMS position and heading errors of INS/GPS system at 5 m/s straight path were remarkably reduced with 10%, 35%, 40%, and 60% of those obtained from the GPS receiver, respectively. The decrease of position and heading errors by using INS/GPS rather than stand-alone GPS can provide more stable steering of agricultural equipments. Therefore, the low-cost INS/GPS system using the extended Kalman filter algorithm may enable the self-autonomous navigation to meet required performance like stable steering or more less position errors even in slow-speed operation.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.1051-1059
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• 2008

In the development process of an ECU (Electrical Control Unit), numerous tests are necessary to evaluate the performance and control algorithm. The vehicle based test is expensive and requires long time. Also, it is difficult to guarantee the safety of the test driver. To overcome the various problems faced in the development process, the ECU test has been done using HIL (Hardware In the Loop). The HIL environment has the actual hardware including an ECU and a virtual vehicle model. In this paper, the test platform environment is devloped for the AWS ECU black box test. The test platform is built on HIL (Hardware In the Loop) architecture. Using the developed test platform, the control algorithm of the AWS ECU can be evaluated under the virtual driving condition of the bi-modal tram. Driving conditions, such as a front steering angle and vehicle velocity, are defined through the PC (Personal Computer) input. Input signals are transformed to electrical signals in the PC. These signals become the input conditions of the AWS ECU. The AWS ECU is stimulated by arbitory input conditons, and responses of the system are observed.

• 한국자동차공학회논문집
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• 제24권5호
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• pp.575-580
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• 2016

This paper sought to find a way to improve the fuel consumption rate of a vehicle for the Shell Eco-marathon Asia 2014, with a special focus on the correlation between vehicle dynamics, aerodynamics and chassis weight reduction. In 'KUTY-Eco 1' designed for SEM Asia 2014, a chassis made with an aluminum alloy tube, semi-monocoque structure and a pivot steering system were adopted to reduce weight and to secure better performance. The goals were achieved using computer-aided engineering(CAE) and parameter study. Finally, 'KUTY-Eco 1' was created, the lightest car in the competition's prototype petrol(gasoline) type category. 'KUTY-Eco 1' secured the official record of 142.7 km/liter during the competition.

• 한국항공우주학회지
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• 제47권8호
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• pp.574-581
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• 2019

본 논문에서는 추력비정렬 및 발사체 횡방향 무게중심 오프셋에 의한 유도 성능 영향성에 대해서 다루었다. 민감도 분석 방법과 몬테카를로 시뮬레이션 방법을 적용하여 추력비정렬 및 횡방향 무게중심 오프셋에 의한 궤도 투입 오차 변화를 계산함으로써 영향성을 분석하였다. 추력비정렬 및 횡방향 무게중심 오프셋에 의한 영향을 보상하기 위한 방안으로서 적분제어기를 추가하는 방법과 Saturn-V 발사체의 비정렬 보상 알고리듬인 SMC 방법의 적용을 고려해 보았고 몬테카를로 시뮬레이션을 통해 효용성을 평가하였다.