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[동력전달계] 구동력 제어 시스템의 제어기 설계에 관한 연구
정훈상(Hunsang Jung),박영진(Youngjin Park) 한국자동차공학회 1999 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1999 No.11_2
Excessive traction torque while starting on slippery roads and slopes causes the wheels to spin, consequently reducing the directional stability and the traction force. It may be a difficult task for normal drivers to steer under these conditions. To solve this problem, researches on the traction control system (TCS) that controls the traction torque using various vehicle pans have been conducted. But these commercial TCSs use experiential methods such as lookup table and gain-scheduling to achieve proper performance under various road and vehicle conditions. This paper proposes a novel brake torque controller .which is insensitive to the variation of vehicle mass, brake gain and road conditions. and throttle angle controller using multiple sliding mode based on the engine model. Through the hybrid use of two controllers, the suggested controller could gain traction force and directional stability.
정훈상(Jung, Hunsang),박영진(Park, Youngjin) 한국소음진동공학회 2004 한국소음진동공학회 논문집 Vol.14 No.9
Parameter modification of a linear finite element model(FEM) based on modal sensitivity matrix is usually performed through an effort to match FEM modal data to experimental ones. However, there are cases where this method can't be applied successfully; lack of reliable modal data and ill-conditioning of the modal sensitivity matrix constitute such cases. In this research, a novel concept of introducing feedback loops to the conventional modal test setup is proposed. This method uses closed-loop natural frequency data for parameter modification to overcome the problems associated with the conventional method based on modal sensitivity matrix. We proposed the whole procedure of parameter modification using the closed-loop natural frequency data including the modal sensitivity modification and controller design method. Proposed controller design method is efficient in changing modes. Numerical simulation of parameter estimation based on time-domain input/output data is provided to demonstrate the estimation performance of the proposed method.
PD제어 기법을 적용한 어뢰형 무인잠수정(HW200)의 선수각 및 심도제어기 설계와 실해역 성능 검증
박성국,이필엽,박상웅,권순태,정훈상,박민수,Park, Sung-kook,Lee, Phil-yeop,Park, Sangwoong,Kwon, Soon T.,Jung, Hunsang,Park, Min-su 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.10
This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.