스쿨 존에서 운전자의 승차감을 수반한 차량 감속 제어에 관한 연구

조효승(Hyo Seung Cho),김형석(Hyoung Seok Kim),이병룡(Byung Ryong Lee) 대한기계학회 2010 大韓機械學會論文集A Vol.34 No.10

최근 많은 전자제어기술이 개발되고 있으며 또한 차량에 적용되고 있다. 이러한 기술들 중 throttle-by-wire, brake-by-wire, steer-by-wire 와 같은 X-by-wire 가 대표적이며 이는 기계적으로 연결된 부분이 전기적인 신호나 액추에이터로 대체된 것이다. 본 논문에서는 스쿨존에서의 차량의 속도 제어를 위하여 throttle-by-wire, brake-by-wire 가 고려되었으며 특히 스쿨 존에서는 다른 지역에 비해 사고가능성이 높다. 그 이유는 보행자가 횡단 시에 다수의 운전자들이 규정속도를 지키지 않기 때문이다. 따라서 본 논문에서는 스쿨 존에서 규정속도 내로 주행하도록 throttle-by-wire, brake-by-wire 를 이용하여 차량을 감속 제어하였으며 이를 위하여 양산차량의 엔진과 변속기의 제원을 사용하였다. 둘째, 차량의 감속에 있어서 운전자와 승객이 불쾌감을 느낄 수 있는 급격한 감속을 줄이기 위하여 제안된 3 차 궤적 추종법을 적용시켰으며 궤적 추종을 위하여 퍼지-PID 제어를 사용하였다. 마지막으로 시뮬레이션을 통하여 제안된 차량의 감속 제어 시스템의 성능을 확인하였다. Recently, many electronic control techniques for vehicles have been developed and applied. One of the technologies can be X-by-wire such as throttle-by-wire, brake-by-wire, steer-by-wire, and etc, in which most of mechanical parts are replaced into electrical wire and actuators. In this study, the effect of throttle-by-wire and brake-by-wire control systems on vehicle velocity control, especially in a school zone, are taken into consideration. The number of accidents reported in school zones is higher than that in other places. The reason for this is that many vehicle drivers do not obey speed limit regulations. Moreover, some of the students are careless while crossing the streets. Therefore, in this study, we attempt to develop a method using throttle-by-wire and brake-by-wire control systems for automatically reducing the vehicle speed such that it will be within the speed limit. First, an engine model and a transmission system model are developed for a specific vehicle model. Second, speed reduction is carried out such that the reduction follows a pre-designed cubic spline trajectory; the trajectory is determined such that rapid deceleration, which causes discomfort to the driver and passengers, can be prevented, for which a fuzzy-PID control algorithm is applied for the trajectory following control. Finally, simulation results are presented to verify the performance of the proposed speed reduction control system.

Brake-By-Wire Hardware-In-the-Loop 시뮬레이션 시스템의 개발

이영송(Youngsong Lee),이운성(Woonsung Lee) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-

The X-by-wire technology, replacing mechanical components with electrical components, is essential to realizing an intelligent vehicle. The technology has many advantages including component reduction, design freedom increase and safety improvement. Brake-by-wire replaces hydraulic brake systems with electrical components. As a part of the x-by-wire technology, the brake-by-wire technology has been actively researched. The technology has a great advantage of solving manufacturing, maintenance and environmental problems associated with hydraulic systems. However, due to absence of mechanical or hydraulic back-up, the brake-by-wire system must be highly reliable and fault-tolerant. This requires environment in which the system can be developed and tested safely, before applying to an actual vehicle. The environment must be flexible in developing and testing various algorithms, and be faithful in reproducing the actual system. This study thus develops a brake-by-wire hardware-in-the-loop simulation system that can serve as the environment mentioned above. The electro-mechanical brake type has been adopted in this study for developing the system. A preliminary test of the developed system shows its effectiveness. However, the test also shows that the response speed of the system should improve. A follow-up study will be conducted to improve system response, develop a full-scale system, and integrate with a steer-by-wire system.

최적 요모멘트 분배 방법을 이용한 고장 안전 통합 섀시 제어기 설계

임성진(Seongjin Yim) 대한기계학회 2014 大韓機械學會論文集A Vol.38 No.3

본 논문은 전자제어식 조향 및 제동 장치를 장착한 차량에 대해 고장 안전 기능을 가지는 통합 섀시 제어 시스템을 제안한다. 통합 섀시 제어 시스템에서 상위 제어기는 슬라이딩 모드 제어 이론을 이용하여 제어 요모멘트를 만들어 낸다. 하위 제어기는 가중 의사-역행렬 기반 제어 분배 방법(WPCA)으로 제어 요모멘트를 전자제어식 조향 및 제동 장치의 타이어 힘으로 분배한다. WPCA 의 가변 가중치를 조절하여 구동기 혹은 센서의 고장에 대처할 수 있다. 이러한 상황에서 WPCA 방법으로 가변 가중치를 최적화하여 요모멘트 분배 성능을 향상시키기 위해 시뮬레이션을 이용한 최적화 방법을 제안한다. 제안된 방법의 타당성을 검증하기 위해 차량 시뮬레이션 패키지인 CarSim 에서 시뮬레이션을 수행한다. This paper presents an integrated chassis control system with fail safety using optimum yaw moment distribution for a vehicle with steer-by-wire and brake-by-wire devices. The proposed system 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 lower-level controller, the control yaw moment is distributed into the tire forces of active front steering(AFS) and electronic stability control(ESC) with the weighted pseudo-inverse based control allocation(WPCA) method. By setting the variable weights in WPCA, 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. For this purpose, simulation-based tuning is proposed. To show the effectiveness of the proposed method, simulations are conducted on a vehicle simulation package, CarSim.

EMB의 센서 고장 감지 시스템 개발

황우현(Woohyun Hwang),한광진(Kwangjin Han),허건수(Kunsoo Huh),김주곤(JooGon Kim),김종기(JongKi Kim),김동신(DongShin Kim) 한국자동차공학회 2008 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-

The brake-by-wire units such as EMB(Electro-Mechanical Brake) will be adopted to the next-generation intelligent vehicles because the brake-by-wire units are lighter in weights and have faster response compared to conventional hydraulic brake units. Advanced chassis controllers such as ABS, TCS, ESP and EBD show better performance with the brake-by-wire units. However. the brake-by-wire units such as EMB should be at least as reliable as the conventional hydraulic brake units. In this study, a model-based fault diagnosis system is developed for monitoring the brake status based on the analytical redundancy method. The performance of the proposed model-based fault diagnosis system is verified in simulations in various faulty cases.

윤활상태에 따른 Electro-Mechanical Brake의 Clamping Force 추정

최정호(Jeongho Choi),김인근(Inkeun Kim),허건수(Kunsoo Huh),김명준(Myoungjune Kim),김주곤(Joogon Kim),김광일(Kwangil Kim) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4

Brake-by-wire systems have several advantages compared to conventional hydraulic brake systems. They are environmentally-friendly because they do not need brake fluid. EMB (Electro-Mechanical Brake) is a type of Brake-by-wire system and it generates clamping force utilizing the electric motor. Since EMB has fast response, it is suitable for modern electronic brake control systems such as ABS (Anti-lock Brake System), TCS (Traction Control System), ESC(Electronic Stability Control) etc. Brake-by-wire systems need accurate information of the clamping force for controlling the brake force. However, it is difficult to install the sensor for measuring the clamping force due to cost and maintenance problems. In this study, an algorithm to estimate the clamping force is developed based on electrical and mechanical models of EMB. Nonlinearities of the EMB such as friction are considered to accommodate various lubrication conditions. The proposed algorithm is verified experimentally with the test bench.

전자 왯지 브레이크 제어 로직 개발

전재한(Jaehan Jeon),박동일(Dongil Park),정완교(Wankyo Jeong),이상목(Sangmok Lee),김종성(Jongsung Kim),여태정(Taejung Yeo) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11

BBW(Brake By Wire)시스템은 브레이크 캘리퍼 내에 전기 모터를 사용하여 제동력을 발생하는 시스템이다. BBW 시스템에서는 기존의 유압장치 즉 부스터, 마스터 실린더, 브레이크 유압 연결부(호스, 파이프 등)는 더 이상 사용되지 않는다. 일반적으로 BBW시스템에서 사용되는 전동식 캘리퍼의 종류는 EMB(Electro-Mechanical Brake) 와 EWB(Electro-Wedge Brake)로 나누어 지며, EWB는 캘리퍼 내에 왯지(쐐기) 구조를 사용하는 캘리퍼이다. 이 왯지구조는 적은 입력 에너지로 차량에서 필요로 하는 브레이크 제동력을 발생시킨다. 이를 자기 배력 효과 (Self-Energizing Effect)라 한다. 이 왯지의 자기 배력 효과로 인해서 기존 12V 환경을 갖는 차량에서 EWB는 사용 가능하게 된다. 본 논문에서는 이 EWB의 제어알고리즘에 대해서 설명하고, 제어 로직 성능을 저제동력 작동시험 및 고온 시험을 통해서 검증하고자 한다.

하이브리드 제동 장치의 캐스케이드 제어

김주곤(Joogon Kim),김종기(Jongki Kim) 한국자동차공학회 2008 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-

Developing active brake systems such as ABS. TCS and ESC decrease a death rate in vehicle accident. In this paper a new HBS(Hybrid Brake System) which is composed of the hydraulic brake system for front wheel and the EMB(Electro-Mechanical Brake) for rear wheel was introduced. The HBS is an environment-friendly system because it doesn't need any brake oil for rear wheel. In respect of failsafe the HBS has the hydraulic brake system in front wheel as a backup brake. So even in case of failure of rear electro-mechanical brake the HBS can guarantee the basic braking performance. A newly designed electro-mechanical brake installed in rear wheel reduces the required motor power dramatically by transferring the kinetic energy of a vehicle into the braking force. A cascade control that is composed of position control and current control is used in EMB system. In addition this paper also provides a vehicle test result with HBS to show the feasibility of CBS braking performance.

Electro-Wedge Brake의 고장 분류 및 센서 고장 진단

황우현(Woohyun Hwang),허건수(Kunsoo Huh),김명준(Myoungjune Kim),김주곤(Joogon Kim),구본경(Bongyeong Koo) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11

The brake-by-wire units such as EWB (Electro-Wedge Brake) will be used to the next-generation intelligent vehicles because the EWB units are lighter in weights and have faster response compared to conventional hydraulic brake units. EWB unit uses the self-reinforcing wedge principle, the actuation forces and therefore electrical power requirements are much lower than in conventional electromechanical brake system. However, when implementing to the vehicle, the important problem is the reliability of the brake-by-wire units. Because there are no mechanical links between the brake pedal and brakeby-wire actuators, Fault diagnosis is essential in implementing EWB units. In this study, EWB fault diagnosis system is developed for monitoring the brake status based on the analytical redundancy method. A test bench is built including the EWB system and the performance of the proposed fault diagnosis system is demonstrated through the test bench experiment.

Brake-by-Wire 시스템용 전자 브레이크 모터 개발

방기창(Kichang Bang),김경원(Kyungwon Kim),김태헌(Teahun Kim),이석원(Sukwon Lee),권순효(Soonhyo Kwon) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5

The vehicle industry has been developing day by day. Demand for the development of intelligent vehicle that will satisfy both technology and economy has been increased. As a result, the vehicle control system has been changed from a mechanical control method to a electrical control method. In case of brake system, the direct control method that can directly brake a vehicle using a electric wires are under study to replace oil pressure system. This paper deals with a electric mechanical brake motor that is one of the core automotive part contributing greatly to the development of automotive industry.

그린카용 Brake-by-Wire 시스템의 ECU 개발

김주곤(JooGon Kim),김명준(MyoungJune Kim),전재형(JaeHyung Chun),구본경(BonGyeong Koo),허재호(Jaeho Hur),손영창(YC Son) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5

New ECU’s of EMB/EWB system which can be used for ABS/ESC/EPB controller are proposed in this paper. The proposed ECU’s can be applied in the rear wheel control actuator of both HBS System and BbW System. The proposed drive ECU is a new electronic braking controller for the sake of vehicle stability using BLAC motor and the developed central ECU is a new electronic central braking controller of HBS System or BbW System. To show the results of the proposed ECU’s, various kinds of vehicle tests were accomplished. From this research, we have obtained core technologies to develop both the drive ECU of front/rear EMB system and the central ECU which can be applied to BBW system in advanced vehicles such as hybrid vehicles, fuel cell vehicles, and electrical vehicles.