• 제목/요약/키워드: driving mode

검색결과 746건 처리시간 0.026초

가변트랙형 메커니즘의 재난구조 로봇(VSTR)을 위한 장애물 극복 (Obstacle Negotiation for the Rescue Robot with Variable Single-Tracked Mechanism)

  • 최근하;정해관;현경학;곽윤근
    • 제어로봇시스템학회논문지
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    • 제13권12호
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    • pp.1222-1229
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    • 2007
  • In this paper, we propose a new obstacle negotiation method for the rescue robot. The rescue robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and pursue a stable system due to the lower center of gravity. In this research, we add the basis of autonomous navigation, driving mode control based on obstacle detection, to the robot to realize automation of mode transformation. Obstacle detection using PSD(Position Sensitive Device) infrared sensors gives active transformation of the track shape. Finally, experimental results about mentioned are presented.

Thickness-Vibration-Mode Piezoelectric Transformer for Power Converter

  • Su-Ho lee;Yoo, Ju-Hyun;Yoon, H.S.
    • Transactions on Electrical and Electronic Materials
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    • 제1권3호
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    • pp.1-5
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    • 2000
  • This paper presents a new sort of multilayer piezoelectric ceramic transformer for switching regulation power supplies. This piezoelectric transformer operate in the second thickness resonant vibration mode. Accordingly its resonant frequency is higher than 1 NHz, Because output power is low if input and output part of transformer are consisted of single layer, this research suggests a new method, which is consisted of both input and output part of transformer have 2-layered piezoelectric ceramics, The size of transformer is 20 mm in width and length, and 1.4 mm in thickness, respectively, To design a high efficient switching circuit of the transformer, internal circuit parameters were measured and then weve calculated a parameter of inductor nd capacitor to design a driving circuit, Weve used a MISFET and its driver circuit modified a calp oscillator circuit as the primary switching circuit.

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4WD 차량의 주행 차체진동 개선을 위한 Driveline 최적화 (Optimization of 4WD Driveline for Improvement of Body Vibration in Driving Condition)

  • 이재운;민경재;정승균
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2001년도 추계학술대회논문집 II
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    • pp.861-865
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    • 2001
  • Generally the noise and vibration characteristics of 4WD vehicle is closely related to the characteristics of driveline such as bending mode, torsional mode, unbalance and nonuniformity of propeller shaft. In this paper the 4WD vehicle which has body vibration problem in high speed driving condition was tested. The sources of the body vibration and its transfer path are investigated by experimental approach. According to the experimental assessment, the body vibration is caused by the nonuniformity of joint of propeller shaft. And this paper presents a kinematic model of a vehicle driveline for the optimization of a driveline characteristics. Finally the optimized result of the drive line has been verified through the experiment.

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휠-트랙 하이브리드 모바일 플랫폼을 위한 지형 적응성 장애물 극복 자세 제어기 개발 (Development of Terrain-Adaptive Attitude Controller for Hybrid Mobile Platform with Wheel & Track)

  • 곽정환;김윤구;홍대한;안진웅
    • 대한임베디드공학회논문지
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    • 제7권2호
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    • pp.61-70
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    • 2012
  • This paper describes terrain-adaptive attitude controller for a hybrid mobile platform which operates in wheel & track mode. The wheel mode of the hybrid mobile platform allows quick driving performance in the flatland, while the track mode provides adaptive movement in the rough ground or stairway. The switching of the platform between two modes is automatically controlled by attitude controller algorithm. In addition, in the track mode, the platform automatically adjusts its attitude angle to overcome the obstacles in front. This paper demonstrates the attitude controller for the aforementioned wheel-track hybrid mobile platform in order to overcome terrain obstacles by using an adaptive method. The driving performance of the hybrid mobile platform has been tested and verified in various surrounding environments in both wheel and track mode. Further, this paper presents the experiments by using the track structure of mobile platform on forming adaptive attitude under various types of obstacles. The practicability and effectiveness of the proposed attitude controller of the platform has been demonstrated in urban building and a test-bed.

PXI embedded real-time controller를 이용한 Bimodal-tram Simulator (Bimodal-tram Simulator using PXI Embedded Real-time Controllers)

  • 변윤섭;김영철
    • 전기학회논문지
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    • 제59권3호
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    • pp.645-650
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    • 2010
  • In this paper we present the Bimodal-tram simulator using the PXI embedded real-time controllers. The Bimodal-tram is developed in KRRI (Korea Railroad Research Institute). The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the vehicle lanes will be marked with permanent magnets that are placed in the ground. The vehicle is controlled by NCS. NCS governs the manual mode and automatic mode driving. The simulator is designed by an identical conception with the real control condition. The dynamic motion of vehicle is simulated by the nonlinear dynamic model. The control computer calculates the control values. The signal interface is linked by CAN communication. The simulation is processed by real-time base. The test driver can see the graphic motion of vehicle and can operate the steering wheel, gas and brake pedal to control direction and velocity of vehicle during the simulation. At present, the simulator is only operated by manual mode. The automatic mode will be linked after the control algorithm is finished. We will use the simulator to develop the control algorithm in the automatic mode. This paper shows the simulator designed for Bimodal-tram using real-time based controller. The results of the test using the simulator are presented and discussed.

연료전지 가속내구모드 개발 (Development of An Accelerated Durability Test Mode for Fuel Cell)

  • 이용희;오동조;전의식;이종현
    • 한국수소및신에너지학회논문집
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    • 제26권5호
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    • pp.493-498
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    • 2015
  • The fuel cell vehicle is a type of hydrogen vehicle which uses a fuel cell to produce electricity, powering its on-board electric motor. The fuel cell vehicle driving principle is completely different from the internal combustion engine vehicle. In order to ensure the durable quality of the fuel cell vehicle, durability test mode considering the characteristics of the fuel cell must be developed. In this study, we derived the durability test mode profile through collecting and analyzing fuel cell vehicle driving data. Then, the accelerated durability test mode is developed by adding degradation conditions and is experimentally validated to have an acceleration factor of 5~6.

슬라이딩모드 관측기를 이용한 하이브리드 자동차용 리튬배터리 충전량 예측방법 (State of Charge Estimator using Sliding Mode Observer for Hybrid Electric Vehicle Lithium Battery)

  • 김일송
    • 전력전자학회논문지
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    • 제12권4호
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    • pp.324-331
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    • 2007
  • 본 연구에서는 슬라이딩 모드 관측기를 사용한 리튬 배터리의 충전량 예측방법에 대해서 논의한다. 배터리의 비선형 회로 모델링 기법이 소개되고 슬라이딩 모드 관측기를 사용한 충전량 예측기의 설계 방법이 논의된다. 기존의 복잡한 배터리 모델링 방법 대신, 단순화된 저항-커패시터 모델링 방법이 본 연구에서 사용되었다. 단순화된 모델에 의해 발생되는 오차나 불확실성은 슬라이딩 모드 관측기에 의해 보상되었다. 슬라이딩 모드 관측기의 구조는 단순하지만, 모델링 에러나 외란에 대해서 강인한 특성을 보여준다. 제안된 제어기의 수렴성은 등가제어 방법에 의해서 증명되었다. 제안된 시스템의 성능은 UDDS (Urban Dynamometer Driving Schedule) 시험에 의해서 증명되었다. 시험 결과 제안된 시스템은 실제 주행 환경에서도 우수한 추적 성능을 보여주었다.

WLTC 시험 모드에서 소형 경유자동차의 후처리 시스템에 따른 질소산화물 및 입자개수 배출 특성 (Characteristics of NOx and PN According to After-treatment for Light-duty Diesel Vehicles in WLTC Test Mode)

  • 이동인;고상철;유영수;박준홍;차준표;전문수
    • 한국분무공학회지
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    • 제23권4호
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    • pp.234-243
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    • 2018
  • Since September 2017, a small diesel vehicle certification test mode has been enhanced from NEDC to WLTC. The main reason for the change of the certification test mode is that the certification test mode of the emission control standard of the diesel vehicle does not sufficiently reflect various driving patterns of the actual roads. Several automakers have developed after-treatment systems such as LNT, SCR, and DPF to meet enhanced emissions regulations. In this study, four small diesel cars were selected for sale in Korea, and the exhaust gas measurement test was performed in the WLTC mode, which reflects the driving characteristics of the actual roads. As a result of test, LNT vehicle exceeded Euro 6 NOx regulation and SCR vehicle satisfied Euro 6 NOx regulation. In addition, both LNT and SCR systems showed high NOX emission characteristics due to speed, RPA and Vxa. For the PN, all test vehicles were fitted with a DPF and met the Euro 6 PN regulations, with similar PN emissions results in LNT and SCR system.

파워 LED 구동을 위한 정전류 제어기 설계 (A Constant Current Controller Design for Power LED Drive)

  • 김응석;김철진
    • 전기학회논문지
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    • 제59권3호
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    • pp.555-561
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    • 2010
  • In this paper, the constant current controller is designed to regulate the driving current of a power LED. The controller design model of the power LED including its driving circuit is proposed to design the constant current controller. A buck converter is also introduced to drive the power LED. The PI-based digital controller is implemented to validate the proposed strategy for the power LED driving.

직렬형 HEV의 엔진/발전기-배터리 연계운전 방안 (The Scheme for Efficient Driving of Engine/Generator-Battery in Series HEV)

  • 박영수;허민호;안재영;강신영;김광헌
    • 전력전자학회:학술대회논문집
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    • 전력전자학회 1999년도 전력전자학술대회 논문집
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    • pp.423-426
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    • 1999
  • This paper describes a driving scheme of the series hybrid electric vehicle that we have developed. Both series HEV and parallel HEV are well known. We chose series HEV because it provides good energy efficiency in urban driving and operates in all-electric mode in performance. And engine-Generator is driven at constant speed with constant load to maintain the low emission. And the battery supplies power during high-load and receive energy during low-load

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