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임성진(SeongJin Yim),박영진(YoungJin Park),박윤식(YunSik Park) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6
To reduce conservatism in robust control methodologies such as H∞ control and quadratic stabilization, we propose a method to design a robust controller with trajectory sensitivity minimization. Trajectory sensitivity is defined as the derivative of the state with respect to a parameter at its nominal value. Since an infinitesimal perturbation is assumed in computing trajectory sensitivity, it is possible to enhance the system robustness with reduced conservatism by minimizing the trajectory sensitivity through feedback control. In order to reduce the trajectory sensitivity, linear quadratic regulator theory is adopted and this is solved using LMI optimization technique. To show the effectiveness of the proposed method, simulation results are presented.
임성진(Seongjin Yim) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5
This paper presents a method for optimizing an integrated chassis controller with fail safety function for a vehicle with steer-by-wire and brake-by-wire devices. The integrated chassis controller has two-level structure: upper- and lower-level controllers. In the upper-level controller, the control yaw moment is computed with sliding mode control theory. In the lowerlevel controller, the control yaw moment is distributed into the tire forces of AFS and ESC with the weighted least square (WLS) method. By setting the variable weights in WLS, it is possible to take the sensor/actuator failure into account. In this framework, it is necessary to optimize the variables weights in order to enhance the yaw moment distribution. To show the effectiveness of the proposed method, simulations are conducted on a vehicle simulation package CarSim.
능동 현가장치와 ESP를 이용한 차량 전복 방지 강인 제어기 설계
임성진(Seongjin Yim),박영진(Youngjin Park) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5
This paper presents a method to design a robust controller for rollover prevention. Several types of controllers have been proposed for rollover prevention in such a way to minimize the lateral acceleration and the roll angle. Rollover prevention capability of these controllers can be enhanced if the controlled vehicle system is robust to the variation of the height of the center of gravity(C.G.) and the speed of the vehicle. With this idea, a robust controller is designed with linear quadratic static output feedback and trajectory sensitivity reduction scheme. Electronic stability program(ESP) and active suspension system are adopted as actuators that generate yaw and roll moments, respectively. The proposed method is shown to be effective in preventing rollover through the simulations on nonlinear multi-body dynamic simulation software, CarSim<SUP>®</SUP>..
임성진(Seongjin Yim),이경수(Kyongsu Yi) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
This paper presents a method to design a preview controller for vehicle rollover prevention. It is assumed that a driver’s steering input is previewable with GPS and inertial measurement unit (IMU). Based on a linear vehicle model, a linear optimal preview controller is designed. To avoid the full-state measure of a linear quadratic regulator (LQR), a linear quadratic static output feedback (LQ SOF) control is adopted. Under the multi-rate situation that the sampling rate of a preview signal is larger than that of a control command, the preview signal should be interpolated to be fitted to the sampling rate of a control command. To compare with several types of controllers such as LQR or LQ SOF with respect to rollover prevention capabilities, Bode plot analysis based on linear vehicle model is performed. To show the effectiveness of the proposed controller, simulations are performed on a vehicle simulation package CarSim.
임성진(SeongJin Yim),박영진(Youngjin Park) 한국자동차공학회 2006 한국자동차공학회 지부 학술대회 논문집 Vol.- No.-
This paper presents a method to design a robust preview controller for active suspension with trajectory sensitivity minimization. Preview control is a good choice in improving the performance of active suspension. Vehicle systems are exposed to several uncertainties such as sprung mass, spring and tire stiffness, etc. These uncertainties deteriorate the performance of the preview controller. To cope with these uncertainties, trajectory sensitivity minimization is used to design a robust controller. Through the simulation, the effects of the robust preview controller for active suspension are investigated.
능동 전륜 조향각에 제한을 가지는 샤시 통합 제어 시스템을 위한 최적 요 모멘트 분배
임성진(Seongjin Yim),윤장열(Janyeol Yoon),조완기(Wanki Jo),이경수(Kyongsu Yi) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
This paper describes an optimum distribution of yaw moment for unified chassis control (UCC) with the limitation on active front steering(AFS) angle. Tn the literatures, an UCC is assumed to have no limitation on AFS angle. However, there is a physical limitation on AFS angle in real application. Following the previous method, a new optimum distribution method of yaw moment is proposed to take this limitation into account. This method derives an optimum longitudinal/lateral force with KKT optimality condition. Simulation is performed to validate the proposed method. Simulation results indicate that the limitation on AFS angle increases longitudinal tire force, and then, reduces the vehicle speed and side-slip angle.
임성진(Seongjin Yim),정진환(Jinhwan Jeong) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.3
This paper presents a method to design a controller for active suspension with 1-DOF decoupled models. Three 1-DOF decoupled models describing vertical, roll and pitch motions are used to design a controller in order to generate a vertical force, roll and pitch moments, respectively. These control inputs are converted into active suspension forces with geometric relationship. To design a controller, a sliding mode control is adopted. Frequency domain analysis and simulation on vehicle simulation software, CarSim<SUP>®</SUP>, show that the proposed method is effective for ride comfort.
횡방향 안정성 향상을 위한 통합 섀시 제어의 적응 가변 가중치 조절
임성진(Seongjin Yim),김우일(Wooil Kim) 대한기계학회 2016 大韓機械學會論文集A Vol.40 No.1
본 논문에서는 차량의 횡방향 안정성을 향상시키기 위해 자세 제어 장치(ESC)와 능동 전륜 조향(AFS)을 이용하는 통합 새시 제어의 적응 가변 가중치 조절 방법을 제안한다. 제어기 설계 방법론을 적용하여 차량을 안정화시키는데 필요한 제어 요 모멘트를 구한 후 이를 가중 역행렬 기반 제어 할당 방법(WPCA)을 이용하여 ESC 의 제동력과 AFS 의 추가 조향각으로 분배한다. 저마찰 노면에서는 차량의 속도가 높다면 횡슬립각이 증가하여 횡방향 안정성이 저하되므로 이를 방지하기 위해 WPCA 의 가변가중치를 상황에 따라 조절하는 방법을 제안한다. 차량 시뮬레이션 패키지인 CarSim 에서 시뮬레이션을 수행하여 제안된 방법이 통합 섀시 제어기의 횡방향 안정성을 향상시킨다는 사실을 검증한다. This paper presents an adaptive variable weights tuning system for an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) for lateral stability enhancement. After calculating the control yaw moment needed to stabilize a vehicle with a controller design method, it is distributed into the tire forces generated by ESC and AFS using weighted pseudo-inverse-based control allocation (WPCA). On a low friction road, lateral stability can deteriorate due to high vehicle speed. To cope with the problem, adaptive tuning rules on variable weights of the WPCA are proposed. To check the effectiveness of the proposed method, a simulation was performed on the vehicle simulation package, CarSim.
전륜 횡력의 포화를 고려한 ESC와 AFS의 통합 섀시 제어
임성진(Seongjin Yim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.12
This article presents an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) under saturation of front lateral tire force. Regardless of the use of AFS, the front lateral tire forces can be easily saturated. Under the saturated front lateral tire force, AFS cannot be effective to generate a control yaw moment needed for the integrated chassis control. In this paper, new integrated chassis control is proposed in order to limit the use of AFS in case the front lateral tire force is saturated. Weighed pseudo-inverse control allocation (WPCA) with variable weight is adopted to adaptively use the AFS. To check the effectiveness of the proposed scheme, simulation is performed on a vehicle simulation package, CarSim. From simulation, the proposed integrated chassis control is effective for vehicle stability control under saturated front lateral tire force.