• 제목/요약/키워드: Yaw moment

검색결과 101건 처리시간 0.026초

ROLLOVER INDEX-BASED ROLLOVER MITIGATION CONTROL SYSTEM

  • Yoon, J.;Yi, K.;Kim, D.
    • International Journal of Automotive Technology
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    • 제7권7호
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    • pp.821-826
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    • 2006
  • This paper describes a rollover index (RI)-based rollover mitigation control (RMC) system. A rollover index which indicates an impending rollover has been developed by a roll dynamics phase plane analysis. The rollover index is calculated using the roll angle, the roll rate, the lateral acceleration and time to wheel lift (TTWL). A differential braking control law based on a 2-D bicycle model has been designed using the direct yaw control (DYC) method. An RMC threshold has been determined from the rollover index. The performance of the RMC scheme and the effectiveness of the proposed rollover index are illustrated using a vehicle simulator.

도로 횡경사 변화에 견실한 차량 횡안정성 제어기 설계 (Robust Vehicle Lateral Stability Controller Against Road Bank Angles)

  • 나호용;조건희;유승한
    • 대한기계학회논문집A
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    • 제41권10호
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    • pp.967-974
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    • 2017
  • 본 연구에서는 횡가속도 센서 계측 신호 기반의 기준 차량 요레이트 모델을 활용하여 횡경사 유무에 관계 없이 견실한 성능을 보장하는 제동기반 요 모멘트 제어시스템을 개발하였다. 2자유도 single track 모델과 횡가속도 센서 계측 신호를 융합하여 새로운 기준 요레이트 모델을 설계하였고 이를 기반으로 요 모멘트 제어기를 설계하였다. 또한 외란 관측기를 적용하여 요레이트 동역학에 존재하는 차량 파라미터 오차를 보상하고 제어기의 성능을 개선하였다. 다자유도 차량동역학 해석 SW인 CARSIM을 이용하여 평지 및 횡경사 노면을 반영한 다양한 검증 시나리오 조건에서 제안된 제어기를 검증하였다. 그 결과 기준 차량모델에 횡가속도 계측 신호를 반영하고 외란 관측기를 통해 모델 파라미터 오차를 보상하는 것을 특징으로 하는 새롭게 제안된 횡안정성 제어기가 도로 횡경사에 관계없이 다양한 주행상황에서 차량의 횡안정성을 견실하게 유지할 수 있음을 확인하였다.

차량전복 방지를 위한 통합섀시제어 (Unified Chassis Control to Prevent Vehicle Rollover)

  • 윤장열;이경수;조완기;김동신
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2007년도 춘계학술대회A
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    • pp.1132-1137
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    • 2007
  • This paper describes a Unified Chassis Control (UCC) strategy to prevent vehicle rollover by integrating individual modular chassis control systems such as Electronic Stability Control (ESC) and Continuous Damping Control (CDC). The UCC threshold is determined from a rollover index computed by estimated roll angle, roll rate and measured lateral acceleration. A direct yaw moment control method is used to design the ESC based on a 2-D bicycle model. Similarly, the CDC is designed based on a 2-D roll model using a direct roll moment control method. The performance of the proposed UCC scheme is investigated and compared to that of modular chassis controllers through computer simulations using a validated vehicle simulator. It is shown that the proposed the UCC can lead to improvements in vehicle stability and efficient actuation of chassis control systems.

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프로펠러와 부가추력장치를 갖는 특수선의 모델링 및 통합제어기 개발 (Modeling and Development of an Integrated Controller for a Ship with Propellers and Additional Propulsion Units)

  • 김종화;임재권;이병결
    • Journal of Advanced Marine Engineering and Technology
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    • 제29권2호
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    • pp.236-242
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    • 2005
  • Dynamic Positioning(DP) system maintains ship's position (fixed location or predetermined track) exclusively by means of CPPs and thrusters. To generate the control input adequate to various situation an integrated controller for CPPs and thrusters is required. The integrated controller is composed of a thrust calculation algorithm and a thrust allocation algorithm. The thrust calculation algorithm generates thrusts in the surge direction and the sway direction from the desired forward and lateral speed and generates a moment about the yaw axis from desired heading angle. The thrust allocation algorithm allocates the generated thrusts and moment to each CPP and thruster. Computer simulations are executed to confirm the effectiveness of the suggested controller.

주행하는 대형 트럭의 요관성모멘트 실시간 추정 (Real-Time Estimation of Yaw Moment of Inertia of a Travelling Heavy Duty Truck)

  • 이승용;나카노키미히코;김세광
    • 대한기계학회논문집A
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    • 제41권3호
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    • pp.205-211
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    • 2017
  • 차량제어의 고도화에 의해, 자동 대열 주행 제어와 같은 정밀한 제어의 필요성이 더욱 높아지고 있다. 정밀 제어를 수행하기 위해서는 차량제어에 필요한 차량 파라미터를 항상 파악하는 것이 중요하다. 특히 화물 운송용 트럭의 경우, 화물 적재 상태에 따라 차량 질량과 차량 관성모멘트 등의 차량 파라미터가 크게 변화한다. 따라서 미지의 파라미터가 있을 경우, 실시간으로 파라미터 추정하여 제어시스템에의 반영이 요구된다. 본 연구에서는 차량이 곡선 주행할 때에 차량의 조향제어에 중요한 차량 파라미터 중 하나인 요관성모멘트에 대하여 Dual Kalman filter알고리즘과 GPS센서를 이용하여 차량이 주행 중에 미지의 요관성모멘트 값을 실시간으로 추정할 수 있는 방법을 제안하고, 차량동역학 상용 프로그램을 이용한 시뮬레이션을 통해 추정방법의 타당성을 검토한다.

퍼지 알고리즘을 이용한 차동 브레이크 시스템의 조향제어 (Steering Control of Differential Brake System using Fuzzy Algorithm)

  • 윤여흥;제롬살랑선네;장봉춘;이성철
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2002년도 춘계학술대회 논문집
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    • pp.233-237
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    • 2002
  • Vehicle Dynamics Control(VDC) has been a breakthrough and become a new terminology for the safety of a driver and improvement of vehicle handling. This paper examines the usefulness of a brake steer system (BSS), which uses differential brake forces for steering intervention in the context of VDC. In order to help the car to turn, a yaw moment can be achieved by altering the left/light and front/rear brake distribution. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. A 8-DOF non-linear vehicle model including STI tire model will be validated using the equations of motion of the vehicle, and the non-linear vehicle dynamics. Since Fuzzy logic can consider the nonlinear effect of vehicle modeling, Fuzzy controller is designed to explore BSS feasibility, by modifying the brake distribution through the control of the yaw rate of the vehicle. The control strategies developed will be tested by simulation of a variety of situation; the possibility of VDC using BSS is verified in this paper.

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한국 여자 창던지기 선수들의 기록과 릴리즈 요인과의 관계 (The Relationship between the Distance and Release Parameters in Korean Female Javelin Throwers)

  • 김태삼;류지선;이순호
    • 한국운동역학회지
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    • 제22권2호
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    • pp.131-140
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    • 2012
  • This study was to investigate the relationship between the distance and projection factors, angle factors of javelin in women's javelin throwing. The data were collected in the 2011 National Sports Festivals for 11 players. Three-Dimensional motion analysis using a system of 4 video cameras at a sampling frequency of 60 fields/s was performed for this study. The factors of release conditions calculated using Matlab 2009a program. The statical analysis on the records(n=42) included mean and standard deviation of the mean(SD), Pearson's product moment correlation coefficient(SPSS Version 16.0 for Windows). There was a statistically significant positive relationship between the records and release velocity(r=.866, p<.01), height(r=.433, p<.01) and height rate(r=.340, p<.05). The attitude angle, release angle, and attack angle showed not a statistically significant relationship between the records. The medial-lateral tilt angle of javelin showed not a statistically significant relationship between the records, but the yaw angle of javelin(r=.549, p<.01) showed a statistically significant positive relationship between the records.

퍼지제어기를 이용한 차동브레이크 시스템의 능동 조향제어 (Active Handling Control of the Differential Brake System Using Fuzzy Controller)

  • 윤여흥;장봉춘;이성철
    • 한국정밀공학회지
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    • 제20권5호
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    • pp.82-91
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    • 2003
  • Vehicle dynamics control (VDC) has been a breakthrough and become a new terminology for the safety of a driver and improvement of vehicle handling. This paper examines the usefulness of a brake steer system (BSS), which uses differential brake forces for steering intervention in the context of VDC, In order to help the car to turn, a yaw moment can be achieved by altering the left/right and front/rear brake distribution. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. An 8-DOF non-linear vehicle model including STI tire model will be validated using the equations of motion of the vehicle, and the non-linear vehicle dynamics. Since fuzzy logic can consider the nonlinear effect of vehicle modeling, fuzzy controller is designed to explore BSS feasibility, by modifying the brake distribution through the control of the yaw rate of the vehicle. The control strategies developed will be tested by simulation of a variety of situation; the possibility of VDC using BSS is verified in this paper.

퍼지 슬라이딩 모드를 이용한 4WD 하이브리드 차량의 선회성능 향상 (Fuzzy Sliding Mode Control for Cornering Performance Improvement of 4WD HEV)

  • 정정윤;류성민;이장명
    • 제어로봇시스템학회논문지
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    • 제16권8호
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    • pp.735-743
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    • 2010
  • A new Fuzzy sliding mode controller is proposed to improve the cornering performance of the four wheel hybrid vehicles. The Fuzzy sliding mode control is applied for the control of rear motor and EHB (Electro-Hydraulic Brake) to improve the cornering performance. The modeling of the automobile is simplified that each of the two wheels is modeled as two degrees of freedom object and the friction coefficient between the wheel and the ground is assumed to be constant. The output of the Fuzzy sliding mode algorithm is the direct yaw moment for the rear wheels, which compensates for the slip angle. Through the simulations using ADAMS and MATLAB Simulink, the cornering performance of the proposed algorithm is compared to the conventional PID to show the superiority of the proposed algorithm. In the simulation experiments, the J-Turn and single lane change are used for each of the Fuzzy sliding mode algorithm and PID controller with the optimal gains which are tuned empirically.

실시간 주행 안정성 분석을 위한 6X6 스키드 조향 무인 자율 주행 차량의 경로 추종 제어 (Path Tracking Control of 6X6 Skid Steering Unmanned Ground Vehicle for Real Time Traversability)

  • 홍효성;한종부;송하준;정사무엘;김성수;유완석;원문철;주상현
    • 대한기계학회논문집A
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    • 제41권7호
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    • pp.599-605
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    • 2017
  • 무인 자율 주행 차량이 야지 환경에서 안전하게 주행하기 위해서는 차량의 주행 안정성이 반드시 고려되어야 한다. 본 논문에서는 실시간 주행 안정성 분석을 위한 자율 주행 시뮬레이션에 적용되는 경로 추종 제어기를 제시한다. 경로 추종 제어기는 Preview 거리를 사용하여 차량의 지향 각을 제어하고, 요 모멘트 관측기로부터 추정된 외란 모멘트를 보상하여 지향 각 오차와 횡 방향 거리 오차를 감소시킨다. 곡선 경로에서는 곡률을 이용하여 차량의 주행 속도를 결정한다. 대상 차량은 6X6 스키드 조향 차량이기 때문에 6개의 휠에 서로 다른 구동력을 분배하는 방법을 사용하여 주어진 경로를 주행한다. ADAMS에서 모델링 된 차량을 MATLAB과 연동시켜 시뮬레이션하고, 경로 추종 제어기 성능을 검증하였다.