http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
한상오(Sangoh Han),이동휘(Donghwi Lee),허건수(Kunsoo Huh) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5
Information of longitudinal and lateral velocity in a vehicle is very useful in many active safety applications such as vehicle stability control, yaw stability control and rollover prevention. In this study, the SKFMEC (Scaled Kalman Filter with Model Error Compensator) technique including the Dugoff’s tire model is designed to estimate longitudinal and lateral velocities. The performance of the proposed estimation method is evaluated through simulations and various field tests. Simulation results and Experimental results demonstrate the robustness for the high acceleration and critical driving maneuvers.
한상오(Sangoh Han),윤장열(Jangyeol Yoon),황태훈(Taehun Hwang),정태영(Taeyoung Chung) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
Lateral forces acting at tire are known to be closely related to the tractive ability, braking characteristics, handling stability, and maneuverability of ground vehicles. However, it is not feasible in the operating vehicles to measure the tire forces directly because of cost of sensors, limitations in sensor technology, interference with the tire rotation, and harsh environment. In this paper, in order to the tire force monitoring system, a monitoring model is proposed including the Dugoff’s tire model. Based on the monitoring model, tire force monitoring system is designed to estimate the lateral tire force acting at each tire. A proposed SKFMEC (Scaled Kalman Filter with Model Error Compensator) method is developed utilizing the conventional EKF(Extended Kalman Filter) method. Simulation results demonstrate the robustness for the lateral driving maneuver.
개선된 교차축 연동제어기를 이용한 리니어 모터의 위치제어
한상오(Sangoh Han),허건수(Kunsoo Huh) 대한기계학회 2010 大韓機械學會論文集A Vol.34 No.3
리니어 모터는 동력전달장치가 필요 없는 직접구동 방식으로 접촉 식의 비선형 효과를 크게 줄일 수 있고 구조 또한 간단하다. 그러나 리니어 모터는 동력전달장치를 제거함으로 인해 파라미터 변화와 외란 등에 둔감한 동력전달장치의 장점을 잃게 되어 모델의 불확실성이나 외란에 민감할 뿐만 아니라 마찰과 리플의 특성에 쉽게 영향을 받는다. 본 논문은 리니어 모터의 두 축을 대상으로 위치제어에 악영향을 주는 대표적인 비선형 함수인 마찰력과 리플력을 추정하여 이를 보상하며 개선된 교차 축 연동제어기를 통해 축 간의 윤곽정밀도를 향상시켰다. 기존의 연구된 제어기들은 위치추종과 윤곽추종을 위해 개별적인 제어기를 설계하였으나 제안된 제어기는 하나의 안정한 제어기로 두축의 위치정밀도와 윤곽정밀도를 동시에 향상시켰다. 제안된 비선형 적응제어기는 모의실험을 통하여 기존의 제안된 교차 축 연동제어기와 비교검증을 함으로써 제안된 제어시스템의 성능을 검증하였다. Linear motors are easily affected by load disturbances, force ripples, friction, and parameter variations because there are no mechanical transmissions that can reduce the effects of model uncertainties and external disturbance. In this study, a nonlinear adaptive controller to achieve high-speed/high-accuracy position control of a two-axis linear motor is designed. The operation of this controller is based on a cross-coupling algorithm. Nonlinear effects such as friction and force ripples are estimated and compensated for. An enhanced cross-coupling algorithm is proposed for effectively improving the biaxial contour accuracy while achieving closed-loop stability. The proposed controller is evaluated by performing computer simulations.
한상오(Sangoh Han),이동휘(Donghwi Lee),허건수(Kunsoo Huh) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
Information of lateral velocity and side slip angle is very useful in many active safety applications such as yaw stability control and rollover prevention. In this paper, a sliding mode observer is designed to estimate the lateral velocity. The side slip angle is estimated using the recursive least square with the disturbance observer and the pseudo integral. The estimated parameters in the combined models are updated recursively to minimize the discrepancy between the models and the physical plant. The performance of the proposed estimation methods is evaluated through field tests.
비선형 관측기를 이용한 차량의 종·횡 방향 속도 감지시스템
한상오(Sangoh Han),이동휘(Donghwi Lee),허건수(Kunsoo Huh) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
Information of Longitudinal velocity and lateral velocity in a vehicle is very useful in many active safety applications such as vehicle stability control, yaw stability control and rollover prevention. In this study, a nonlinear observer including Dugoff’s tire model is designed to estimate longitudinal and lateral velocities. The lateral velocity is estimated using the combined method. The model-based method is relatively robust against sensing errors including zero drift, but, its performance depends on the accuracy of the vehicle parameters. The kinematics-based method is robust against variations in parameters and driving operation, but it is sensitive to the sensor bias error. The proposed method combines the advantages from the previous two methods. The performance of the proposed estimation methods is evaluated through simulations.
개선된 교차축 연동제어기를 통한 리니어 모터의 비선형 적응제어
한상오(Sangoh Han),황우현(Woohyun Hwang),이상민(Sangmin Lee),허건수(Kunsoo Huh) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
The linear motors are easily affected by load disturbance, force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbance. For highspeed/high-accuracy position control of a linear- motor-driven two axes, a nonlinear adaptive controller including a cross- coupling algorithm is designed in this paper. The nonlinear effects such as friction and force ripple are estimated and compensated. An enhanced approach for cross-coupling algorithm is proposed to effectively improve the biaxial contour accuracy with the closed-loop stability. The proposed controller is evaluated through the computer simulations.