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Kalman Filter with Input Estimation을 이용한 타이어 힘 추정
정종철(J.C.Jung),허건수(K.S.Huh) 한국자동차공학회 1998 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1998 No.5_2
On-line and real-time information of the road/tire interaction is the essential factor not only from the vehicle monitoring viewpoint but also for the Advanced Vehicle Control Systems(AVCS)approach. In particular, their interactions are known to be closely related to the tractive ability, handling stability, steerability and braking characteristics of ground vehicles. The key variables representing the interactions can be tire-road friction coefficient and the longitudinal/lateral forces acting on the tires. However, it is not feasible in the operating vehicles to measure those variables directly because of high cost of sensors, limitations in sensor technology, interference with the tire rotation and harsh environment. The Alternative is indirect sensing technique which can estimate the key variables, such as tire forces based on vehicle dynamics models. In this paper, in order to estimate the tire forces, a new monitoring technique, named Kalman Filter with Input Estimation(KFIE), is developed based on the Kalman filter and an adaptive law derived from the Lyapunov stability condition. A 14 DOF vehicle model with the combined-slip Magic Formula tire model is utilized in order to generate true vehicle motion. The lateral forces acting on the tires are estimated using this monitoring technique and its estimation accuracy is compared with the true values.<br/>
손원희(W.H Sohn),최진환(J.H. Choi),이순걸(S.G Lee),박동창(D.C. Park),류한식(H.S. Ryu),배대성(D.S. Bae),허건수(K.S. Huh) 한국자동차공학회 2001 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2001 No.5_2
An experimental study of dynamic track tension for high mobility tracked vehicle is investigated and compared to multibody dynamic simulation model. This research focuses on a heavy military tracked vehicle which has sophisticated suspension and rubber bushed track systems in computer model of the track tension. In order to obtain accurate dynamic track tension of track subsystems, each track link is modeled as a body which has six degrees of freedom. A compliant bushing element is used to connect track links. Various virtual proving ground models of Chang-Won proving ground are developed to observe dynamic changes of the track tension. The obtained empirical results of the dynamic track tension are comparcd against the simulation studies. <r.B.7]~%<>1 : Tracked Vehicle{;>~£,"j-"J), Trnck Link(;>~£"83), Dynamic Trnck Tension(%"'1 ;>~£"J-;;:j), Compliant Bushing (%<;! .!J!.>-J), DTJS("J-;;:j ~;;<.j A16 ',iJ)
황정호(J.H.Hwang),정종철(J.Y.Kim),김준영(J.C.Jung),허건수(K.S.Huh) 한국자동차공학회 1997 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1997 No.11_2
In this study, a PC-based steering simulator is developed such that the steering of the vehicle and the vehicle dynamics program are constructed into the HILS(Hardware-In-the-Loop System). This steering simulator is composed of Hardware(steering wheel, potentiometer, self-aligning BLDC motor, D/A board, Macintosh etc.) and Software(CAPC : Crewman's Associates for Path Control). According to the steering angle input, the vehicle motion is calculated from the software and its animated motion in the roadway scene is displayed on the computer screen. In order to give the realistic feeling to the subject driver, the self-aligning torque is generated through the BLDC motor. The proposed low-cost steering simulator can be very useful for the feasibility study of new steering control algorithms, the driver's steering behavior research and road-departure accident simulations.
정종철(J.C.Jung),황정호(J.H.Hwang),김준영(J.Y.Kim),허건수(K.S.Huh) 한국자동차공학회 1997 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1997 No.6_2
On-line and real-time information of the road and tire conditions is the essential factor not only the vehicle monitoring viewpoint but also the Advanced Vehicle Control Systems(AVCS) approach. In particular, the degrees of road-tire interactions are known to be closely related to the tractive ability, handling stability, steerability and braking characteristics of ground vehicles. The key variables representing the interactions can be tire-road friction coefficient and the longitudinal/lateral forces acting on the tires. However, it is not feasible in the operating vehicles to measure directly those variables because of high cost of sensors, limitations in sensor technology and interference with tire rotation. Another approach is the indirect sensing techniques which estimate the key variables,tire forces, based on vehicle dynamics models. In this paper, for estimating the tire forces, two monitoring systems are developed based on the Recursive Parameter Estimator and Extended Kalman Filter. The performance of the two monitoring systems is compared in simulation. A 14 DOF vehicle model with a combined-slip magic formula tire model is utilized in order to generate true vehicle motion.<br/>