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유성기어형 능동 전륜 조향 시스템을 이용한 조종성과 안정성 향상을 위한 제어알고리즘 개발
신현수(Hyunsoo Shin),김창준(Changjun Kim),미안아쉬팍알리(Mian Ashfaq Ali),한창수(Changsoo Han),오승규(Seungkyu Oh),장진희(Jinhee Jang) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
Active Front Steering (AFS) system enables vehicle performance to improve directional stability control and driver convenience. AFS system is a complementary system for a front-steered vehicle that adds compensation angle at lower speed or subtracts at higher speed based on vehicle information and performance such as steering wheel angle, vehicle speed, lateral acceleration, yaw rate and road conditions. In this paper, planetary gear type AFS module modeling is used Bond graph method. Variable Gear Ratio(VGR) algorithm is considered vehicle speed and steering wheel angle for driver’s convenience. Active steering is proposed to improve vehicle yaw stability which use PID controller.
인-휠 모터 후륜 전기자동차의 타이어 힘 분배에 대한 연구
김상호(Sangho Kim),김창준(Changjun Kim),최주영(Jooyoung Choi),미안아쉬팍알리(Mian Ashfaq Ali),백성훈(Sunghoon Back),한창수(Changsoo Han) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
This paper propose the tire force distribution method for a rear wheel drive electric vehicle with in-wheel motor and evaluate the energy saving performance. This tire force distribution method is developed to improve the vehicle stability under the high speed cornering condition. The vehicle control algorithm consists of direct yaw moment control and tire force distribution method. The direct yaw moment control is designed to obtain reference yaw rate and yaw moment. It is defined by steering input and 2-DOF vehicle model and has a model-based control. The tire force distribution method calculates the desired longitudinal tire forces at left and right wheel using the yaw moment and total desired longitudinal force from the acceleration pedal signal. The calculated tire longitudinal forces at the left and right wheel are compared with the maximum longitudinal tire forces and are controlled by it. The maximum longitudinal tire force is calculated by friction circle theory. The proposed tire force distribution method is verified by the simulation using CarSim software. And it is found from simulation results that the proposed method provides improvement vehicle stability and saving the energy under the high speed cornering condition.
Passivity Based Adaptive Control and Its Optimization for Upper Limb Assist Exoskeleton Robot
압둘마난칸(Abdul Manan Khan),지영훈(Young Hoon Ji),미안아쉬팍알리(Mian Ashfaq Ali),한정수(Jung Soo Han),한창수(Chang Soo Han) Korean Society for Precision Engineering 2015 한국정밀공학회지 Vol.32 No.10
The need for human body posture robots has led researchers to develop dexterous design of exoskeleton robots. Quantitative techniques to assess human motor function and generate commands for robots were required to be developed. In this paper, we present a passivity based adaptive control algorithm for upper limb assist exoskeleton. The proposed algorithm can adapt to different subject parameters and provide efficient response against the biomechanical variations caused by subject variations. Furthermore, we have employed the Particle Swarm Optimization technique to tune the controller gains. Efficacy of the proposed algorithm method is experimentally demonstrated using a seven degree of freedom upper limb assist exoskeleton robot. The proposed algorithm was found to estimate the desired motion and assist accordingly. This algorithm in conjunction with an upper limb assist exoskeleton robot may be very useful for elderly people to perform daily tasks.