• Journal of Drive and Control
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• v.17 no.4
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• pp.80-86
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• 2020

Autonomous driving is one of the most important new technologies of our time; it has benefits in terms of safety, the environment, and economic issues. Path following algorithms, such as automated lane keeping systems (ALKSs), are key level 3 or higher functions of autonomous driving. Pure-Pursuit and Stanley controllers are widely used because of their good path tracking performance and simplicity. However, with the Pure-Pursuit controller, corner cutting behavior occurs on curved roads, and the Stanley controller has a risk of divergence depending on the response of the steering system. In this study, we use the advantages of each controller to propose a hybrid control strategy that can be stably applied to complex driving environments. The weight of each controller is determined from the global and local curvature indexes calculated from HD map information and the current driving speed. Our experimental results demonstrate the ability of the hybrid controller, which had a cross-track error of under 0.1 m in a virtual environment that simulates K-City, with complex driving environments such as urban areas, community roads, and high-speed driving roads.

• Journal of Energy Engineering
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• v.19 no.1
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• pp.39-50
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• 2010

Hybrid Electric Vehicle(HEV) and Plug-in Hybrid Electric Vehicle(PHEV) will replace Conventional Gasolene Engine Vehicle at a rapid rate to eliminate emission gases and improve fuel economy. This review describes Fuzzy Logic Control strategy and Optimization for Parallel Hybrid Electric Vehicle. Recent progress on Electric Motor and Li-ion Battery for HEV and PHEV are given. Analysis on competitiveness of Korean HEV and PHEV technology based on the number of papers published and patents registered are also performed.

• Journal of Power Electronics
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• v.13 no.4
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• pp.719-728
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• 2013

A novel hybrid active power filter (NHAPF) that can be adopted in high-voltage systems is proposed in this paper. The topological structure and filtering principle of the compensating system is provided and analyzed, respectively. Different controlling strategies are also presented to select the suitable strategy for the compensation system. Based on the selected strategy, the harmonic suppression function is used to analyze the influence of system parameters on the compensating system with MATLAB. Moreover, parameters in the injection branch are designed and analyzed. The performance of the proposed NHAPF in harmonic suppression and reactive power compensation is simulated with PSim. Thereafter, the overall control method is proposed. Simulation analysis and real experiments show that the proposed NHAPF exhibits good harmonic suppression and reactive power compensation. The proposed compensated system is based on the three-phase four-switch inverter, which is inexpensive, and the control method is verified for validity and effectiveness.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.163-165
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• 2007

Generally, the power management system of fuel cell hybrid vehicle (FCHV) requires a unidirectional DC/DC converter for the fuel cell (FC) and a bidirectional DC/DC converter for the battery. To manage the various power flows between these modules with a simple way, a new band-gap reference voltage (BGRV) control strategy is proposed. The proposed method easily controls this variable power flow by setting the reference voltages of each converter to slightly different values, and it can be simply implemented by commercial controllers as well. The operational principle of proposed method is presented and verified experimentally by the 400W prototype.

• Proceedings of the KIEE Conference
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• 2009.04b
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• pp.94-96
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• 2009

This paper deals with the design considerations of electro-magnet (EM)-permanent magnet (PM) hybrid levitation and propulsion device for magnetically levitated (maglev) vehicles. Several design considerations such as machine structure, manufacturing, and control strategy are described. In order to verify the design scheme and feasibility of control strategy, dynamic test set is implemented and tested.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1450-1455
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• 2005

This paper describes a DR construction for land navigation and the sigma point based receding horizon Kalman FIR (SPRHKF) filter for DR/GPS hybrid navigation system. A simple DR construction is adopted to improve the performance both of the pure land DR navigation and the DR/GSP hybrid navigation system. In order to overcome the flaws of the EKF, the SPKF is merged with the receding horizon strategy. This filter has several advantages over the EKF, the SPKF, and the RHKF filter. The advantages include the robustness to the system model uncertainty, the initial estimation error, temporary unknown bias, and etc. The computational burden is reduced. Especially, the proposed filter works well even in the case of exiting the unmodeled random walk of the inertial sensors, which can be occurred in the MEMS inertial sensors by temperature variation. Therefore, the SPRHKF filter can provide the navigation information with good quality in the DR/GPS hybrid navigation system for land navigation seamlessly.

• Smart Structures and Systems
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• v.14 no.6
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• pp.1105-1129
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• 2014

The unscented Kalman filter (UKF) has been developed for nonlinear model parametric identification, and it assumes that the model parameters are symmetrically distributed about their mean values without any constrains. However, the parameters in many applications are confined within certain ranges to make sense physically. In this paper, a constrained unscented Kalman filter (CUKF) algorithm is proposed to improve accuracy of numerical substructure modeling in hybrid testing. During hybrid testing, the numerical models of numerical substructures which are assumed identical to the physical substructures are updated online with the CUKF approach based on the measurement data from physical substructures. The CUKF method adopts sigma points (i.e., sample points) projecting strategy, with which the positions and weights of sigma points violating constraints are modified. The effectiveness of the proposed hybrid testing method is verified by pure numerical simulation and real-time as well as slower hybrid tests with nonlinear specimens. The results show that the new method has better accuracy compared to conventional hybrid testing with fixed numerical model and hybrid testing based on model updating with UKF.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.36 no.1
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• pp.31-36
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• 2012

Military vehicles, compared to conventional vehicles, require higher driving performance, quieter operation, and longer driving distances with minimal fuel supplies. The series hybrid electric vehicle can be driven with no noise and has high initial startup performance, because it uses only a traction motor that has a high startup torque to drive the vehicle. Moreover, the fuel economy can be improved if the vehicle is hybridized. In series hybrid electric vehicles, the electric generation system, which consists of an engine and a generator, supplies electric energy to a battery or traction motor depending on the vehicle driving state and battery state of charge (SOC). The control strategy determines the operation of the generation system. Thus, the fuel economy of the series hybrid electric vehicle relies on the control strategy. In this study, thermostat, power-follower, and combined strategies were compared, and a 37% improvement in the fuel economy was implemented using the combined control strategy suggested in this study.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.670-674
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• 2016

The control performance of hybrid PWM inverter using a phase current measurement is presented in this paper. The hybrid PWM technique consists of space vector pulse width modulation (SVPWM) and six-step voltage control operation. The SVPWM is performed to reduce the harmonic components in the low speed region, and the six-step modulation is applied to increase the maximum speed of the IPMSM in the high speed region. Therefore, it is possible to obtain a great performance in both the low speed range and high speed range. However, the six-step modulation cannot be completely implemented, since the inverter that includes the lag-shunt sensing method has an immeasurable current region. In this paper, a quasi-six-step modulation using a modified voltage vector is proposed. The validity and usefulness of the proposed PWM technique is verified by MATLAB/Simulink and experimental results.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.04a
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• pp.71-72
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• 2013