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신위재,주창복,고은배 慶南大學校 附設 工業技術硏究所 1993 硏究論文集 Vol.11 No.-
본 연구에서는 제어시스템에서 필연적으로 발생하는 오브슈터(overshoot)와 정상상태오차를 줄이기위해 P-D(Proportional-Derivation)부가 SOFC (Self-organizing Fuzzy Control)를 설계하였다. 제어규칙 생성에서 전문가 지식과 시행착오의 반복수행에 대한 계산시간과 메모리 용량을 줄이기 위해 변형된 P-I-D 앨고리듬이 사용되었으며 P-D제어기에서 발생되는 오브슈터의 증가를 P-D부가 SOFC로서 해결 하였다. 본연구에서 제안한 설계방법의 타당성을 로보트 매니퓰레이터의 컴퓨터 시뮬레이션으로 확인하였다. In this paper, PD plus SOFC is designed to reduce the steady state error and overshoot which is easy to occur in system control. And modified PID algorithm is used to decrease calculation time and memory space due to iteration performance. SOFC and PD gain is also changed to solve the problem of overshoot. The proposed control strategy is applied to computer simulation of a manipulator and demonstrated the effectiveness of this control strategy.
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이재문(Jae-Mun Lee),이철희(Chul-Hee Lee),최문석(Mun-Suk Choi),김철기(Cheol-Ki Kim),고은배(Eun-Bae Koh) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
The need to know the braking performance in vehicle has been acknowledged for many years since the invention of vehicles. Since there are numerous design variables as well as nonlinearities in the braking system, it is not easy to predict the braking performance accurately. In this paper, a computation program is developed to estimate the braking performance numerically. This synthetic braking performance program is dealing with pedal force, pedal travel and deceleration by including all braking parts such as master cylinder, booster, valves, brake pads, rotors, and hoses. In order to improve the accuracy of program, the semi-empirical model of braking system is developed by using the empirical test data of pad compression, hose expansion and friction coefficient between pads and rotors. The performance of estimation accuracy is evaluated by comparing with actual vehicle test results. The developed program is easy to operate for the engineers of brake system in developing new vehicles by incorporating the graphical presentation as well as exporting data in Microsoft Excel format.
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