• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.181-184
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• 1999

Leading vehicle states are useful and essential elements in adaptive cruise control (ACC) system, collision warning (CW) and collision avoidance (CA) system, and automated highway system (AHS). There are many approaches in ACC using Kalman filter. Mostly only distance to leading vehicle and velocity difference are estimated and used for the above systems. Applications in road vehicle in curved road need to obtain more informations such as yaw angle, steering angle which can be estimated using vision system. Since vision system is not robust to environment change, we used Kalman filter to estimate distance, velocity, yaw angle, and steering angle. Application to active tracking of target vehicle is shown.

• 한국항해학회지
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• 제18권4호
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• pp.11-21
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• 1994

Final aim of this paper is a study on simulation of automatic steering of a ship in random seas. In order to achieve this aim, we need excitation due to random seas. The excitation may be estimated from energy spectrum of irregular waves and response functions of manoeuvring motion of a ship in regular waves. This paper deals with response functions of manoeuvring motion of a ship in regular waves. We discussed New Strip Method(NSM) of sway-yaw-roll coupled motions in regular waves. NSM is defined in space axes system and that has been used to predict seakeeping performance of a ship in waves. But ship manoeuvring is defined in body fixed axes system. So we cannot use NSM theory itself in predicting manoeuvring performance of a ship in waves. We introduced relationship between space axes system and body fixed axes system. And we developed modified NSM which was defined in body fixed axes system and was able to be used in manoeuvring motion of a ship in waves. We calculated sway and yaw response functions of manoeuvring motion of a bulk carrier in regular waves.

• 한국기계가공학회지
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• 제21권5호
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• pp.22-27
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• 2022

An integrated front steering system and front brake system (FSFB) is developed to improve the stability and controllability of an SUV. The FSFB simultaneously controls the additional steering angle and front brake pressure. An active front steering system (AFS) and an active front brake system (AFB) are designed for comparison. The results show that the FSFB enhances the lateral stability and controllability regardless of road and running conditions compared to the AFS and AFB. As a result, the yaw rate of the SUV tracks the reference yaw rate, and the side slip angle decreases. In addition, brake pressure control is more effective than steering angle control in improving the stability and steerability of the SUV on a slippery road. However, this deteriorates comfort on dry or wet asphalt.

• 수산해양기술연구
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• 제51권1호
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• pp.61-70
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• 2015

In an attempt to improve the maneuvering character of hull form renovated tuna purse seiner. A renovation was carried out on the 3 tuna purse seiner fishing vessel. To grasp the progress of maneuvering and resistance on ship B (730 ton class), new bulbous bow was only attached. The ship A (740 ton class) and C (600 ton class) were modified for new bulbous bow, enlarged slipway and rudder. And then the zigzag and the turning test were carried out. According to the turning test, the advance and the tactical diameter were improved very much for the modified ship. The sea trial was carried out for the original and modified ship A. It is showed that the results of sea trial corresponded with that of the tank test on the whole. In the result of the zigzag test on ship B, the turning ability was improved very much, but the yaw checking ability was deteriorated in just some degree. In the result of the zigzag test on ship C, the turning ability and yaw checking ability were remarkably improved. Ship C was greatly improved among the three ships for the maneuvering character of modified hull form.

• 한국자동차공학회논문집
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• 제23권5호
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• pp.478-485
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• 2015

Availability of the climbing angle information is crucial for the intelligent vehicle system. However, the climbing angle information can't be measured with the sensor mounted on the vehicle. In this paper, climbing angle estimation system is proposed. First, longitudinal acceleration obtained from gyro-sensor is compared with the actual longitudinal acceleration of the vehicle. If the vehicle is in yawing motion, actual longitudinal acceleration can't be approximated from time derivative of wheel speed, because lateral velocity and yaw rate affect actual longitudinal acceleration. Wheel speed and yaw rate can be obtained from the sensors mounted on the vehicle, but lateral velocity can't be measured from the sensor. Therefore, lateral velocity is estimated using unknown input observer with nonlinear tire model. Simulation results show that the compensated results using lateral velocity and yaw rate show better performance than uncompensated results.

• 대한기계학회논문집A
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• 제26권2호
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• pp.329-339
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• 2002

In ship operation the consequency of roll motions can seriously degrade the performance of mechanical and personnel effectiveness. So many studies for the roll stabilization control system design have been performed and very good results have been achieved. In many studies, the stabilizing fins are used. Recently rudders, which have been extensively modified, have been used to exclusively to stabilize the roll. This paper examines the two-degree-of-freedom servosystem design technique to synthesize the yaw control system which achieves the course keeping object of the ship and the H$_{\infty}$ control approach to suppress the roll motion, respectively.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2009년도 춘계학술대회 논문집
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• pp.495-499
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• 2009

본 논문에서는 상호역회전 풍력발전기와 New Yaw System 실증시험에 대하여 제시한다. 상호역회전 풍력발전기는 공기의 유동을 가진 운동에너지의 공기역학적(aerodynamic) 특성을 이용하여 동일한 바람방향에 대해 상호 반대방향으로 회전하는 Front Blade와 Rear Blade를, Generator의 Rotor와 Stator에 각각 결합 형성한 것으로, Generator와 Dual Blade의 회전력이 원심력이 아닌 구심력으로 변환되어 무게중심이 균형을 이루게 한다. 이렇게 변환된 구심력은 회전구동부분의 편마모 현상, 소음발생 현상 및 불균형 톨크 발생 현상 감소효과가 공히 구현되도록 하여 풍력발전기의 구조적 안정성 및 발전효율 증대효과를 얻을 수 있도록 한 기술이다.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.414-421
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• 2007

This paper presents a engine/brake integrated VDC(Vehicle Dynamic Control) system using neural network algorithm methods for wheel slip and yaw rate control. For stable performance of vehicle, not only is the lateral motion control(wheel slip control) important but the yaw motion control of the vehicle is crucial. The proposed NNPI(Neural Network Proportional-Integral) controller operates at throttle angle to improve the performance of wheel slip. Also, the suggested NNPID controller performs at brake system to improve steering performance. The proposed controller consists of multi-hidden layer neural network structure and PID control strategy for self-learning of gain scheduling. Computer Simulation have been performed to verify the proposed neural network based control scheme of 17 dof vehicle dynamic model which is implemented in MATLAB Simulink.

• 한국인터넷방송통신학회논문지
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• 제12권6호
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• pp.199-206
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• 2012

본 논문에서는 스마트폰의 자이로센서를 이용하여 다양한 각도에서 촬영한 현실세계의 객체를 증강현실을 위한 자연 마커로 사용할 수 있도록 가상의 Frontal-View로 변환할 수 있는 알고리즘을 설계하고 구현하였다. 제안한 알고리즘은 pitch, roll, yaw 3축에 대한 회전행렬을 획득하여 대상 이미지에 대한 yaw의 기준점을 설정하였다. 그 후 대상 이미지가 바닥, 벽면, 천장 중 어느 면인지 판단하여 그에 대한 회전 행렬을 보정하였다. 마지막으로 자이로 센서 좌표계와 영상 좌표계 사이의 차이를 고려해 Frontal-View를 얻기 위한 호모그래피 행렬을 획득하여 투영변환을 통해 촬영 영상으로부터 Frontal-View를 획득할 수 있도록 설계하였다. 구현된 Frontal-View 변환 프로그램을 평가하기 위해 바닥, 벽면, 천장에 대해 주변 환경을 스마트폰 환경에서 촬영한 영상을 Frontal-View로 변환하도록 테스트를 한 결과 본 논문에서 설계 및 구현한 변환 알고리즘이 여러 각도에서 촬영한 영상을 정상적으로 Frontal-View로 변환하는 것을 확인하였다.

• 한국정보통신학회논문지
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• 제10권2호
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• pp.392-397
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• 2006

본 논문에서는 ESP와 4WS차량의 동적성능에 관한 연구와 차량이 불안정 영역으로의 주행 시 안정영역으로의 거동으로 할 수 있게 하는 차량의 주행안정성 향상에 관한 연구를 수행하였다. 고속으로 주행하는 차량이 조향과 동시에 가${\cdot}$감속을 하는 경우 관련된 변수로는 종방향 및 횡방향의 속도변화, 요우잉 등을 들 수 있으며, 이 변수들은 타이어 특성, 차량의 중량, 제동력, 조향각등에 따른 동역학적 관계식들로 표현 할 수 있다. 본 연구는 위와 같은 제동${\cdot}$조향장치들을 제어하여, 차량의 주행 중 위급상황 시 탁월한 성능을 발휘 할 수 있는 시스템에 관하여 고찰하고, 주행시 안정성향상을 위한 제어시스템 알고리즘개발을 통하여 운전상황을 안전하게 하기 위함이다.