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14자유도 전차량 모델 기반 섀시제어시스템 Dynamic Sensor 고장 검출 알고리즘 개발
최원섭(Wonsub Choi),이재훈(Jaehoon Lee),국형석(Hyung-Seok Kook),허승진(Seung-Jin Heo) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
With the advent of the new technologies in electronics, vehicle dynamics, and sensors, intelligent chassis control systems have been widely adopted in vehicles, recently. These chassis control systems use various sensors to measure real-time signals from the operating vehicle on roads such as steering angle, wheel speeds, vehicle’s yaw rate and lateral acceleration. Therefore, an unexpected sensor fault in the chassis control system could lead to serious damage to the vehicle, and in serious cases could be threatening to the human safety. In the present article, a reliable sensor fault detection method is concerned. The sensor fault detection algorithm proposed in the present work is based on a full vehicle model developed in a previous work. The high fidelity modeling capability using analytical and empirical models based on 14 degree of freedom model and the real-time computation capability of the full vehicle model enable computed virtual sensor signals to be compared with the real sensor signals and even be substituted for in case of sensor fault. Detailed algorithm for the sensor fault detection is described, and simulated results for the cases of lateral acceleration sensor and yaw rate sensor faults are demonstrated in the present article.
원격조종을 위해 불확실한 시간 지연 측정값을 고려한 모션 추정 방법
최민용(Minyong Choi),정완균(Wan Kyun Chung),최원섭(Wonsub Choi),이상엽(Sangyup Yi),박종훈(Jonghoon Park) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.8
Motion estimation is crucial in a remote control for its convenience or accuracy. Time delays, however, can occur in the problem because data communication is required through a network. In this paper, state estimation problem with uncertain time delayed measurements is addressed. In dynamic system with noise, after taking measurements, it often requires some time until that is available in the filter algorithm. Standard filters not considering this time delays cannot be used since the current measurement is related with a past state. These delayed measurements are solved with augmented extended Kalman filter, and the uncertainty of delayed time is also resolved based on an explicit formulation. The proposed method is analyzed and verified by simulations.