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비선형 강성을 가지는 2관성 시스템 모델에서의 역진제어기법을 이용한 강인 추적과 진동 억제
김형준(HyungJoon Kim),김형종(Hyungjong Kim),김재용(JaeYong Kim),방재성(Jaesung Bang),심형보(Hyungbo Shim) 대한전기학회 2010 대한전기학회 학술대회 논문집 Vol.2010 No.7
In this paper, we consider the problem of designing a robust backstepping controller for a two-inertia system with nonlinear stiffness which contains arbitrarily large (but bounded) model uncertainties and disturbances. The research is motivated by the fact that a two-inertia system represents most of an industrial robot arm system that has a flexible joint, for which vibration suppression and robust controller against model uncertainties and external disturbances are very important. The proposed controller makes tracking error and vibration of the system suppressed within an arbitrarily small bound during operation time when full states are measured.
EV 성능개발을 위한 SILS 기반의 PT 버추얼 환경 적용
이대흥(Daeheung Lee),최석환(Seokwhan Choi),우동현(Donghyeon Woo),이예은(Yeeun Lee),방재성(Jaesung Bang),유재석(Jaesuck Yoo),민성환(Sunghwan Min) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11
In a situation in which the electronic control unit (ECU), components, and software of a vehicle are increasingly diversified and complicated, there is a time and cost limitation to test vehicle performance manually in a real vehicle environment. In this paper, in order to develop the powertrain performance of an electric vehicle, we consider the simulation environment using the virtual vehicle control unit (vVCU) for virtual calibration and optimization through a number of critical element technologies. As a result of this, we introduce some examples which are applying virtual optimization and calibration in the early stages of production development. The applied cases show significant M/H savings and it can reduce development time by approximately 40% for APS required torque mapping and others.