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통합섀시 제어를 위한 타이어 힘 및 노면 마찰계수 추정
조완기(Wanki Cho),윤장열(Jangyeol Yoon),이경수(Kyongsu Yi) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
This paper presents methods for identifying the longitudinal/lateral tire forces and the tire-road friction coefficient. The longitudinal/lateral tire force estimator has been designed, consisting of four steps, i.e, shaft torque estimator, longitudinal tire force estimator based on a simplified wheel dynamics model, a lateral tire force estimator based on a planar model and a combined tire force estimator. The combined tire force estimator has been designed for compensation of the longitudinal/lateral tire force estimator using a Random Walk Kalman-Filter. This study also proposes a tire-road coefficient identification method operating in a real-time simulation. This estimator has been designed by a multiple model (MM) filter method using a Dugofftire model. The proposed estimators have been evaluated via computer simulations conducted using the vehicle dynamic software CARSIM, AMS model and the UCC system coded with Matlab/Simulink.
조완기(Wanki Cho),이경수(Kyongsu Yi),장래혁(Naehyuck Chang) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.7
This paper describes an integrated chassis control for a maneuverability, a lateral stability and a rollover prevention of a vehicle by the using of the ESC and AFS. The integrated chassis control system consists of a supervisor, control algorithms and a coordinator. From the measured and estimation signals, the supervisor determines the vehicle driving situation about the lateral stability and rollover prevention. The control algorithms determine a desired yaw moment for lateral stability and a desired longitudinal force for the rollover prevention. In order to apply the control inputs, the coordinator determines a brake and active front steering inputs optimally based on the current status of the subject vehicle. To improve the reliability and to reduce the operating load of the proposed control algorithms, a multi-core ECU platform is used in this system. For the evaluation of this system, a closed loop simulations with driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy.
슬라이딩모드 컨트롤을 이용한 6WS/6WD 차량의 안전성 향상관한 연구
조완기(Wanki Cho),안상준(Sangjun An),이교일(Kyo Il Lee),이경수(Kyongsu Yi) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper presents steering control method by multiple sliding mode control to improve the vehicle stability in turning behavior. The controller is designed to control the side slip angle and the yaw rate by using the steering angle. The sliding mode control theory is used to consider parameter uncertainty in the vehicle. And the driver steering model is designed to follow a decided trajectory because the target vehicle to control is a unmanned ground combat vehicle. In this paper, it is assumed that information about the trajectory is known. The performance of controller is shown through the computer simulation using the 18 degree of freedom full vehicle model.
조완기(Wanki Cho),안상준(Sangjun An),이호연(Hoyoun Lee),김종훈(Jonghun Kim),이경수(Kyongsu Yi),이교일(Kyo Il Lee) 한국자동차공학회 2005 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2005 No.11_2
This paper presents dynamic characteristic of an off-road vehicle. For the given dimensions of terrain-wheel system constants, the relationship between the effective tractive force of tyre on an off-road and the slip ratio were calculated. In order to reflect a will of driver, it has been assumed that an accelerator is directly proportional to a throttle angle and a velocity of a vehicle is influenced by a throttle angle. Using the relationships. sliding mode control has been designed to improve stability of driving vehicle when calculated slip ratio is in excess of an arbitrary limit.
조완기(Wanki Cho),문승욱(Seungwuk Moon),이경수(Kyongsu Yi) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This paper describes an intelligent vehicle safety control strategy for the lateral stability and the safety clearance to avoid rear-end collision in various driving situations. The intelligent vehicle safety control system consists of a supervisor, control algorithms, and a coordinator. From the measurement and estimation signals, the supervisor determines the control modes among a normal driving, a longitudinal safety, a lateral stability, and an integrated safety. The control algorithms consist of a longitudinal driving/safety controller such as ACC/CA system and a lateral stability controller such as ESC/AFS system. Individual controllers calculate a desired longitudinal force and a desired yaw moment. In order to apply throttle/brake control to maintain safe clearance in normal cruise control driving situations and to apply differential braking and active front steering to obtain lateral stability, the coordinator determines the throttle, brake, and active front steering inputs optimally based on the current status of the subject vehicle. The closed loop simulations with driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy.
조완기(Wanki Cho),이경수(Kyoungsu Yi),윤장열(Jangyeol Yoon) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
This paper presents unified chassis control (UCC) to improve the vehicle lateral stability. The unified chassis control implies combined control of active front steering (AFS), electronic stability control (ESC) and continuous damping control (CDC). A direct yaw moment controller based on a 2-D bicycle model is designed by using sliding mode control law. A direct roll moment controller based on a 2-D roll model is designed. The computed direct yaw moment and the direct roll moment are generated by AFS, ESP and CDC control modules respectively. A control authority of the AFS and the ESC is determined by tire slip angle. Computer simulation is conducted to evaluate the proposed integrated chassis controller by using the Matlab, simulink and the validated vehicle simulator. From the simulation results, it is shown that the proposed unified chassis control can provide with improved performance over the modular chassis control.