• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.463-467
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• 2005

In this paper, the guidance law applicable to formation flight of UAV in three-dimensional space is proposed. The concept of miss distance, which is commonly used in the missile guidance laws, and Lyapunov stability theorem are effectively combined to obtain the guidance commands of the wingmen. The propose guidance law is easily integrated into the existing flight control system because the guidance commands are given in terms of velocity, flight path angle and heading angle to form the prescribed formation. In this guidance law, communication is required between the leader and the wingmen to achieve autonomous formation. The wingmen are only required the current position and velocity information of the leader vehicle. The performance of the proposed guidance law is evaluated using the complete nonlinear 6-DOF aircraft system. This system is integrated with nonlinear aerodynamic and engine characteristics, actuator servo limitations for control surfaces, various stability and control augmentation system, and autopilots. From the nonlinear simulation results, the new guidance law for formation flight shows that the vehicles involved in formation flight are perfectly formed the prescribed formation satisfying the several constraints such as final velocity, flight path angle, and heading angle.

• 한국산학기술학회논문지
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• 제19권5호
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• pp.160-166
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• 2018

본 연구에서는 주행하는 도로면의 단면 형상 정보를 이용하는 RPS 시스템과 다원형 감쇠 특성을 가지는 MSD 시스템을 기반으로 예견 제어 알고리즘을 적용한 지능형 현가 시스템을 제안하고, 그 결과를 제시하였다. 자동차의 과도한 진동과 조종 불안정성을 유발하는 대표적인 외란 입력은 주행하는 도로면에 돌출되거나 함몰된 불규칙한 주행 장애물이다. 이러한 장애물의 존재 유무만이 아니라 그 형상에 대한 정보를 안다면 이를 활용하여 제어 성능을 개선시킬 수 있다. 선행 연구 결과를 바탕으로 하여, 상용성을 고려한 구조화된 작동 시스템을 적용한 응용 연구를 수행하였다. 이를 위해 RPS 시스템과 예견 제어 기법을 기반으로 한 제어 알고리즘과 다차원화된 감쇠 특성을 가지는 MSD 시스템 간의 스위칭 알고리즘을 개발, 연계성을 제시하였다. 실차 적용성을 파악하기 위하여, 제안된 제어 프레임을 전차량 모델에 구현하여 시뮬레이션을 수행하였다. 구조적 간결성을 목표로 적용된 3-DS 작동기 시스템과 결합된 전자제어식 현가 시스템을 통하여 탑승자의 승차감과 차체의 조종 안정성을 효과적으로 개선할 수 있음과 제 시스템의 유용성을 확인하였다.

• 대한임베디드공학회논문지
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• 제4권4호
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• pp.180-189
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• 2009

Currently, most automobile companies are interested in research on intelligent autonomous vehicle. They are mainly focused on driver's intelligent assistant and driver replacement. In order to develop an autonomous vehicle, lateral and longitudinal control is necessary. This paper presents a lateral and longitudinal control system for autonomous vehicle that has only mono-vision camera. For lane detection, we present a new lane detection algorithm using clothoid parabolic road model. The proposed algorithm in compared with three other methods such as virtual line method, gradient method and hough transform method, in terms of lane detection ratio. For adaptive control, we apply a vanishing point estimation to fuzzy control. In order to improve handling and stability of the vehicle, the modeling errors between steering angle and predicted vanishing point are controlled to be minimized. So, we established a fuzzy rule of membership functions of inputs (vanishing point and differential vanishing point) and output (steering angle). For simulation, we developed 1/8 size robot (equipped with mono-vision system) of the actual vehicle and tested it in the athletics track of 400 meter. Through the test, we prove that our proposed method outperforms 98 % in terms of detection rate in normal condition. Compared with virtual line method, gradient method and hough transform method, our method also has good performance in the case of clear, fog and rain weather.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2006년도 추계학술대회
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• pp.93-96
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• 2006

PEMFC(proton exchange membrane fuel cell) is most applicable to automobile in various types of fuel cell. However, to improve system dynamics and logn term Performance fuel cell is supported by auxiliary power unit forming hybrid system. The operating strategy of hybrid system influences on efficiency and stability. In this paper the proper strategies are compared each other considering power distribution and stable system operation. The chosen strategy is simulated by MATLAB simulink to forecast realization of fuel cell hybrid vehicle

• Journal of Power Electronics
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• 제18권4호
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• pp.1190-1200
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• 2018

A current sourced bi-directional wireless power transfer (WPT) system is proposed to solve the problems that exist in the bi-directional WPT for vehicle-to-grid (V2G) systems. These problems include the fact that these systems are not safe enough, the output power is limited and the control methods are complicated. Firstly, the proposed system adopts two different compensation and control methods on both the primary and secondary sides. Secondly, based on an AC impedance analysis, the working principle is analyzed and the parameter configuration method with frequency stability is given. In order to output a constant voltage, a bi-directional DC/DC circuit and a controllable rectifier bridge are adopted, which are based on the "constant primary current, constant secondary voltage" control strategy. Finally, the effectiveness and feasibility of the proposed methods are verified by experimental results.

• 한국자동차공학회논문집
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• 제16권6호
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• pp.1-9
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• 2008

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 J-turn and Fish-hook 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 the procedure to search for other useful worst case based upon the existing worst case scenarios mentioned above and its application in simulation basis. 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 either roll angle or yaw rate. The obtained scenarios were enough to generate the worst case to meet NHTSA worst case definition (ex.2-inch wheel lift). Additionally, as an application, the worst case steering maneuver is acquired for the vehicle to operate with a simple ESP system. It has been concluded that the new procedure in this paper is adequate to create other feasible worst case scenarios for a vehicle system both with an intelligent safety control system and without it.

• 소음진동
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• 제6권6호
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• pp.851-856
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• 1996

The active noise cancellation system showing the effective convergence and stability has been studied by simplifying the controller structures using the weighting factors of control error path to the multi-channel filtered-x LMS algorithm which needs a lot of calculations and the performance has been verified experimentally. Besides, to implement the system performance in a vehicle cabin, experimental work for selecting the suitable numbers and positions of the microphones and speakers was accomplished. Effectively combining a TMS 320C 31 main processor conducting real number calculations and having various functions with other components, the purpose-built system board for active noise cancellation has been designed and with this board, car active noise cancellation system showing maximum stable 10dB noise reduction has been obtained at the car idling conditions above 3000rpm range.

• 대한교통학회지
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• 제27권3호
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• pp.71-77
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• 2009

유비쿼터스 교통환경이 구현되면 기존 ITS 환경에서는 불가능하였던, 개별차량 위치, 속도 등 미세한 데이터 수집이 가능해 지며, V2V(Vehicle-to-Vehicle), V2I(Vehicle-to-Infra) 양방통신이 가능해 짐에 따라 개별차량 혹은 차량군 단위의 미세 제어가 가능해 진다. 이러한 유비쿼터스 교통 환경의 장점에 입각하여 교통류 안정성을 지표로 하는 연속류 정체예방관리 방안이 선행연구에서 제시된 바 있다. 본 연구에서는 유비쿼터스 교통환경에서 정체예방관리를 실현함에 있어 제기된 쟁점사항들에 대하여, VISSIM 시뮬레이션 실험결과에 입각하여 해답을 제시하였다. 교통류 안정성을 명시적으로 교통류 관리에 적용할 수 있도록, 유비쿼터스 교통환경에서 수집 가능한 차량군 길이와 간격으로 도출하였다. 또한 교통상황에 따라 차별화된 운영관리가 필요하다는 타당성을 도출하고, 교통상황 구분 및 상황별 운영관리 방안을 제시하였다. 마지막으로 이러한 관리를 수행하였을 때 어떠한 잠재적 이익이 있는가를 보여주었다. 본 연구 결과는, 제반 제약조건으로 말미암아 제한적인 시뮬레이션 실험을 통해 도출되었다. 그러나 유비쿼터스 교통환경에서 새로운 개념의 교통관리를 시행하는 데 있어 그 타당성은 보여줄 수 있었다고 판단된다. 향후 보다 포괄적인 현장실험을 통해 제반 결과들이 확정되어야 할 것이다.

• 대한기계학회논문집A
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• 제27권9호
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• pp.1492-1498
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• 2003

This study proposes a new conceptual Hybrid Electric Brake System (HEBS) which overcomes problems of a conventional hydraulic brake system. HEBS adopt a contactless type bake system when a vehicle speed is high, to obtain superior braking performances by eddy current. On the contrary, when a vehicle speed is low, HEBS employs a contact type brake system such as conventional hydraulic brake system to generate higher brake force. Therefore, HEBS transfers faster the braking intention of drivers and guarantees the safety of drivers. Braking torque analysis is performed by using a mathematical model which is proposed to investigate the characteristic of a vehicle dynamics when the brake torque is applied. Optimal torque control is achieved by maintaining a desired slip corresponding to the road condition. The results show that HEBS reduces the stopping distance, saves the electric energy, and increases the stability.

• 드라이브 ㆍ 컨트롤
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• 제15권4호
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• pp.74-80
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• 2018

A damper is a hydraulic device designed to absorb or eliminate shock impulses which is acting on the sprung mass of vehicle. It converting the kinetic energy of the shock into another form of energy, typically heat. In a vehicle, a damper reduce vibration of car, leading to improved ride comfort and running stability. Therefore, a damper is one of the most important components in a vehicle suspension system. Conventionally, the design process of vehicle suspensions has been based on trial and error approaches, where designers iteratively change the values of the design variables and reanalyze the system until acceptable design criteria are achieved. Therefore, the ability to tune a damper properly without trial and error is of great interest in suspension system design to reduce time and effort. For this reason, a many previous researches have been done on modeling and simulation of the damper. In this paper, we have conducted optimal design process to find optimal design parameters of damping force which minimize a acceleration of sprung mass for a given suspension system using genetic algorithm.