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전(全)방향 충돌 회피를 위한 액츄에이터 최적 분배 알고리즘
김규원,김범준,이경수,Kim, Kyuwon,Kim, Beomjun,Yi, Kyongsu 한국자동차안전학회 2013 자동차안전학회지 Vol.5 No.2
This paper presents a unified control algorithm of independent braking and steering for collision avoidance. The desired motion of the vehicle in the yaw plane is determined using the probabilistic risk assessment method based on target state estimation. For the purpose of coordinating the independent braking and steering, a non-linear vehicle model has been developed, which describes the vehicle dynamics in the yaw plane in both linear and extended non-linear ranges of handling. A control allocation algorithm determines the control inputs that minimize the difference between the desired and actual vehicle motions, while satisfying all actuator constraints. The performance of the proposed control algorithm has been investigated via computer simulations conducted using the vehicle dynamics software CARSIM and Matlab/Simulink.
새로운 전동식 동력 조향 장치의 성능 평가 및 제어방법 개발
손균(Kyun Son),송정훈(Jeonghoon Song) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
In this study, a new column type electric power steering system (EPS-TT) is investigated. The remarkable features of this EPS-TT are its opto-isolated torque sensor, which is used to make steering torque measurements, and its assist torque control methodology, which uses a uni-directional motor and two clutches. Thus it does not require a complicated motor drive system that consumes a large amount of electrical energy when the direction of rotation is reversed. This allows the new system to use a smaller and simpler assist motor. Full steering system model and simplified model are developed to evaluate the EPS-TT. A full car model is also used to investigate the vehicle response. A map-based control method is designed to control the EPS?TT. Various sinusoidal inputs are applied to the system and the resulting performance is analyzed. The results show that the performance achieved by the EPS-TT is similar to that of a conventional EPS across the frequency domain. The results for the full steering system model are similar to those for the simplified model, but the vehicle response is slightly different. The map-based controller provided good performance without affecting the stability or controllability of the vehicle.
김두형(Duhyung Kim),정태영(Taeyoung Chung),오세욱(Sewook Oh),고상진(Sangjin Ko),여태정(Taejung Yeo) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This article proposes the integrated control system of ESC(Electronic Stability Control) and MDPS(Motor Driven Power Steering), called MICS(E+M)(Mobis Integrated Control System, ESC+MDPS), simultaneously improving vehicle stability and handling performance with reduced ESC intervention. The MICS(E+M) changes the steering characteristics of MDPS under some unstable situations as understeer or oversteer. It can give drivers a feedback of driving condition and lead them to do counter-steering maneuver toward proper direction by changing an assistant steering torque of MDPS. Vehicle test results show the proposed integrated control system enhanced the stability and handling of vehicle effectively in several driving maneuvers.
MATLAB/Simulink를 이용한 컬럼형 전동조향장치(EPS)의 토크제어 시뮬레이션
방두열(Du-Yeol Pang),이성철(Seong-Cheol Lee),장봉춘(Bong-Chun Jang) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
As a development of technology, electric power steering system which uses an electric motor came to use in recent and it can solve the problems with hydraulic power steering system. In this paper, vehicle model and electric power steering system are combined to fulfill full vehicle model. By simulation effect of motor torque assist through electric power steering revealed effective, and full vehicle model are proved reasonable through comparison with real car experimental datum.
윤장열(Jangyeol Yoon),김두형(Duhyung Kim),차종조(Chongjo Cha),정태영(Taeyoung Chung),여태정(Taejung Yeo) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
This paper presents a vision based Lane Following Control System (LFCS) and the experimental results of field operating test. The LFCS is more advanced and complicated system than the Lane Keeping Assist System (LKAS) which is in mass production. The proposed LFCS is designed based on the model predictive control method which includes the relation of vehicle and road. A steering torque is derived in real-time to follow the lane center line by using parameters which are acquired from camera. The performance of the proposed LFCS is evaluated via computer simulations and field test. It is verified that the proposed LFCS can be helpful for reducing the driver’s workload and can assist the driver during driving.
위성혁(Sung-Hyeok Wi),유준열(Jun-Yeol Ryu),홍정표(Jung-Pyo Hong) 한국자동차공학회 2018 한국자동차공학회 학술대회 및 전시회 Vol.2018 No.11
Since the motor for EPS(Electric Power Steering) is an automobile part involved in wheel operation, it is necessary to consider the mechanical response as well as the electrical performance in design stage. Electrical and mechanical performance can be estimated by using both analytical method and finite element method. However, finite element method has the disadvantage such as hard preprocessing and long analysis time. Therefore, in this paper, it is aimed to estimate the electromechanical parameters through mathematical modeling and to improve the mechanical response efficiently by using the voltage equation and the motion equation with the simulink block model. In addition, the speed controller is designed to improve mechanical response. Finally, the mechanical response results of the base model and the improved model are compared through finite element method.