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안대용(Dae-Young An),강창묵(Chang Mook Kang) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11
Linear parameter varying(LPV) system can be effectively applied to control in an environment where parameters change. And linear quadratic regulator(LQR) controller is optimal controller in state-space model. In this paper, we propose a LPV controller for velocity control of personal mobility such as an electric wheelchair, which can be varying a wheelchair mass. We are modelling a wheelchair system using dynamics and kinematics and get an interpolation parameter vector by weighing a wheelchair mass. It can be optimized control strategy for the user`s weight using the LPV control system. To prove the effectiveness of the proposed method, a single LQR controller and LPV controller were compared and analyzed using MATLAB/Simulink. The proposed method has better control performance compared to a single LQR controller.
정철민(Cheolmin Jeong),박채훈(Chaehun Park),안대용(Dae-Young An),강창묵(Chang Mook Kang) 한국자동차공학회 2021 한국자동차공학회 부문종합 학술대회 Vol.2021 No.6
Electric power steering (EPS) system is used to reduce driver burden and increase convenience. In the case of an EPS system of autonomous vehicles, more efficient driving is possible by controlling the system to obtain the desired steering wheel angle. However, for reliable control, there must be a fail-safety function for the failure. To ensure control reliability and stability, the Interacting Multiple Model (IMM) is applied as an algorithm that can diagnose mechanical and electrical faults. IMM consists of several Kalman filter models consisting of parallel structures, each of which updates the probability values according to the Markov chain rule via interaction. The Kalman filter of each model not only allows the state to be estimated, but also finds the best model for the current state, and the failure condition can be diagnosed quickly because it is estimated according to mode probability. Therefore, stable failure factor blocking and control performance improvement can also be expected when diagnosing failures with IMM.
박채훈(Chaehun Park),정철민(Cheolmin Jeong),이화수(Hwa Su Lee),안대용(Dae-Young An),배문규(Mun Kyu Bae),강창묵(Chang Mook Kang) 대한전기학회 2021 대한전기학회 학술대회 논문집 Vol.2021 No.10
이 논문은 드론 고장 중 프로펠러 파손을 연구했으며, 프로펠러 파손 시 발생하는 관성 모멘트 변화를 DC 모터 동역학과 연관 지어 고장을 모사하였다. 추가적으로 다중 필터 모델기반 상태 추정 알고리즘인 Interacting Multiple Model(IMM)로 시스템의 정상 모드와 고장 모드 분류를 수행하였다.