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김동욱(Dongwook Kim),이경수(Kyoungsu Yi) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5
본 논문은 비포장도로에서의 능동 안전 시스템에 대한 연구의 일환으로 고속 자율주행을 위한 장애물 회피 알고리즘에 대하여 논하였다. 간단한 차량 동역학 모델을 이용해 차량의 상태를 예측하는 변형된 조향 장(Modified Steer field)방법을 이용해 안전한 궤적을 생성한다. 그리고 실제 차량모델과 간단한 동역학모델의 차이를 보상하기 위해서 생성된 궤적을 추종하는 제어기를 설계하였다. 차량의 종방향 동작은 차량 구동 모델의 역동역학(Inverse dynamics)을 이용해 제어되고 횡방향 동작은 선형이차 안정기 (Linear quadratic regulator)에 의해 제어된다. 비선형 차량 모델을 이용한 시뮬레이션 결과는 제안된 경로 생성알고리즘과 경로 추종알고리즘의 조합이 실시간 장애물 회피 및 경로 추종을 위해 요구되는 성능을 만족시킴을 보여 주었다. This paper presents an collision avoidance algorithm for high-speed autonomous vehicles as an active safety procedure in unstructured road. Safe trajectories are generated using the modified steer field method, in which the simplified dynamics of the vehicle are used to predict the state of the vehicle over the look-ahead horizon. To compensate for the dissimilarity between the simplified model and the actual vehicle, a separate controller is designed to track the generated trajectory. The longitudinal dynamics of the vehicle are controlled using the inverse dynamics of the vehicle powertrain model, and the lateral dynamics are controlled using a linear quadratic regulator. Simulation results on a full non-linear vehicle model show that the proposed combination of path planning algorithm and path tracking algorithm gives satisfactory online obstacle avoidance and path tracking performance.
3자유도 차량모델 기반 차량 안정성 제어 알고리듬 설계
정태영(Taeyoung Chung),이경수(Kyoungsu Yi) 한국자동차공학회 2005 한국 자동차공학회논문집 Vol.13 No.1
This paper presents vehicle stability control algorithm based on 3-DOF vehicle model. The brake control inputs have been directly derived from the sliding control law based on a three degree of freedom plane vehicle model with differential braking. The simulation has performed using a full nonlinear 3-dimensional vehicle model and the performance of the controller has been compared to that of a direct yaw moment controller. Simulation results show that the proposed controller can provide a vehicle with better performance than conventional controller with respect to brake actuation without compromising stability at critical driving conditions.
차량 전복 방지 제어를 위한 모델 기반 통합 롤 상태 추정기 설계
권동근(Dongkeun Kwon),이경수(Kyoungsu Yi),이승종(Seungjong Yi),윤장열(Jangyeol Yoon) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper describes a model-based roll state estimator for the detection of impending vehicle rollover. The vehicle rollover is induced by maneuvering and road disturbances. An estimator is designed based on two simple roll models. One is g a three-degree of freedom vehicle lateral dynamics model to estimate the maneuvering induced roll motion. The other is a fourdegree of freedom half-car suspension model to estimate the road disturbance induced roll motion. These model-based estimator use signals from steering wheel angle, lateral acceleration, yaw rate, and vertical acceleration which are available on a vehicle equipped with Vehicel Stability Contorl(VSC) System and Continous Damping Control (CDC) System. It is shown by simulation study that the proposed roll state estimator can provide good estimates of the roll motion.
권동근(DongKeun Kwon),이경수(Kyoungsu Yi),이승종(Seungjong Yi) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper describes the model-based roll state estimator for the vehicle rollover prevention control. The roll angle and roll rate are estimated with respect to the lateral motion of the vehicle and the road excitation. Two simple roll dynamics models for the model-based estimator are used. One is the model using lateral dynamics, the other is based on the suspension dynamics. The lateral dynamics and the suspension dynamics model-based estimator are such complemental relationship. For this reason, the proposed estimator combined the lateral and the suspension dynamics model-based estimator for better performance. The performance and the reliability of the proposed estimator under driving conditions are investigated by computer simulations.
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.
박종원(Jongwon Park),이경수(Kyoungsu Yi),노기한(Kihan Noh) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
This paper describes a motor torque control algorithm of a motorized active suspension damper (MASD) for ride quality improvement. Quarter car suspension model including actuator dynamics is presented and compared with a conventional suspension model. Two types of suspension control algorithm are developed. One is a passive suspension control algorithm for following the desired damping force. The other is an active suspension control algorithm based on optimal control theory in order to minimize a performance index which is defined using the sprung mass acceleration, the suspension deflection and the tire deflection. An adaptive observer has been designed to estimate the suspension velocity and dynamic friction of MASD using measured suspension deflection, sprung mass acceleration and unsprung mass acceleration. Numerical simulation studies have been conducted using the quarter car suspension model. From the simulation results, it has been found that the passive suspension control algorithm determines the motor torque for tracking the desired damping force and the active suspension control algorithm can improve the ride quality compared with the passive suspension controller.
[I.T.S.부문] 주행 부하 추정기법을 이용한 정지/서행 주행 제어 시스템
이승균(Seungkyun Lee),이경수(Kyoungsu Yi) 한국자동차공학회 2001 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2001 No.11_1
This papers describes a vehicle control law with driving load adaptation for application to a stop and go cruise control. Gravitation force due to road slope is a large unknown disturbance in vehicle dynamic model. Throttle switching line is tuned to flat land. It is not proper to slop land. Throttle, brake switching line has been adapted using a driving load estimation method. Driving Load is estimated from engine speed, turbine speed, brake pressure and vehicle acceleration using simplified vehicle dynamic model and a least square method. The performance of the control law is investigated via simulation and experiment test. The simulation and experiment test show that the proposed control law can reduce distance error and speed error.
정태영(Taeyoung Chung),이건복(Gunbok Lee),이경수(Kyoungsu Yi) 한국자동차공학회 2005 한국 자동차공학회논문집 Vol.13 No.1
In this paper, validation of Driver Steering Model has been conducted. The comparison between the simulation model and vehicle test results shows that the model is very feasible for describing combined human driver and actual vehicle dynamic behaviors. The 3D vehicle model is consisted of 6-DOF sprung mass and 4-quarter car model for vehicle body dynamics. Powertrain model including differential gear and Pacejka tire model ale applied. The driver steering model is also validated with vehicle test result. The driver steering model is based on angle and displacement error the desired path, recognized by driver.
최재웅(Jaewoong Choi),김학구(Hakgu Kim),이경수(Kyoungsu Yi),유승진(Seungjin Yoo) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
This paper presents an integrated control algorithm for a compound hybrid excavator. The excavator models which consist of engine, pump and electric components are developed to evaluate the conventional and compound hybrid excavator’s fuel consumption. Two different integrated control algorithms are proposed. The considered approaches are: low power charge rule-based control and low power assist rule-based control. To verify the proposed control algorithm, simulation is accomplished with MATLAB/SIMULINK and the simulation results show that low power charge rule-based control is better than low power assist rule-based control. The fuel consumption of the compound hybrid excavator can be reduced about 25% of fuel compared to the conventional hydraulic excavator.