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박명욱(Myungwook Park),박재웅(Jaeung Park),장재훈(Jaehoon Jang),김정하(Jungha Kim) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
The UGV system is composed of navigation system, obstacle detecting system, vision system, vehicle control system, and arbiter system. This paper verifies the information about the design and control of the UGV using SUV of commercial vehicles. The experimental vehicle was mounted Smart motor and Linear motor. Also, we were equipped with a lot of sensors to view the status of vehicle. Based on this, we have accomplished the research about control over longitudinal and lateral direction. The control of the vehicle system can be divided into two: longitudinal control, lateral control. The longitudinal control is composed of acceleration and braking system. The motor used for acceleration and braking was the BLDC motor. The acceleration & brake (pedal) control is associated with each pedal through the wire and done by the motor itself. For the lateral control, the same motor used in the longitudinal control. Also we used Compact RIO real-time controller for designing the control system.
차량동역학 해석을 통한 무인차량의 DR항법에 관한 연구
정승권(Seungkwon Jung),박명욱(Myungwook Park),장재훈(Jaehoon Jang),김정하(Jungha Kim) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This research proposes a navigation algorithm with DR through vehicle’s dynamic analysis. GPS system sometimes lose their signals and receive inaccurate position data due to many factors, such as obstructions. This paper shows that GPS failure can be solved by using a DR navigation method with encoders and that position errors can be decreased by using RTK_GPS units. In addition to this method, steer angle can be calculated by single track model.
C-EPS의 보조력 및 복원력제어 알고리즘 검증을 위한 시뮬레이터설계
장재훈(Jaehoon Jang),박명욱(Myungwook Park),문희창(Heechang Moon),김정하(Jungha Kim) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5
Electric Power Steering(EPS) works with the help of an electric motor and a control unit which has some sensors. The motor runs on battery and will use electric power to assist the movement of steering when the driver turns the wheel. EPS system has many advantages over traditional HPS (Hydraulic Power Steering) system in space efficiency, engine efficiency and environmental problem. For exemple, Compared with a hydraulic power steering system that continuously drives a hydraulic pump, the EPS system drives the EPS motor only when necessary, resulting in reduced fuel consumption. EPS system is consist of many sensors and brushless motor(BLDC motor). The main function of EPS system is Assist control and Return control, damping compensation control, friction compensation control, Inertia compensation control. In this paper, the EPS system"s control logic for various functions that will be validated practically through HILS and vehicle.