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6WD/6WS 시험 차량의 자율주행 제어 알고리즘 개발 및 검증
김원균(Wongun Kim),강주용(Juyong Kang),이경수(Kyongsu Yi),이종석(Jongseok Lee) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
In this paper, autonomous path tracking control algorithm is developed to design unmanned combat vehicle in the future. The vehicle model for simulation study is validated with test vehicle data. Autonomous path tracking control algorithm consists of the path tracking, upper level, lower level and path generation algorithm. The path tracking controller is based on the finite preview optimal control method. Desired steering input is calculated using the road information within preview distance. Upper level controller determines front, middle steering angle and desired vehicle velocity. In lower level controller, in-wheel motor input commands are calculated to satisfy desired vehicle velocity. Test vehicle is equipped with six driving inwheel motors, six steering motors, GPS system and several sensors. Vehicle test has been conducted to verify performance of the autonomous control algorithm.
차량의 선회 성능 향상을 위한 인휠모터 기반의 고슬립 제어 알고리즘 개발
김원균(Wongun Kim),이경수(Kyongsu Yi) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
This paper describes development of high wheel slip control algorithm in order to enhance turning performance of electric vehicle equipped with in wheel-motors. In the case of conventional vehicle, turning radius is definitely limited by kinematic features with respect to wheel base, maximum steering angle and track width. In previous studies in order to resolve this limitation, steering angle and yaw moment are simultaneously used to improve turning performance and guarantee vehicle stability. Yaw moment can be generated by independent drive and brake torques using in-wheel motors. Proposed control algorithm eliminates limitation of turning radius using high wheel slip control method. In conclusion, turning center can be determined at arbitrary points, for example vehicle mass center, front wheel and right wheel.
6WD/6WS 차량의 안정성 및 주행성을 위한 타이어 힘 최적 분배
김원균(Wongun Kim),강주용(Juyong Kang),이경수(Kyongsu Yi),이종석(Jongseok Lee) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This paper describes optimal distribution controller to improve vehicle lateral stability and maneuverability for a six wheel driving/six wheel steering (6WD/6WS) vehicle. The driving controller consists of upper and lower level controller. The upper level controller based on sliding control theory determines front, middle steering angle, additional net yaw moment and longitudinal net force according to reference velocity and steering angle. The lower level controller intakes desired longitudinal net force, yaw moment and tire force information as an input and determines additional front steering angle and distributed longitudinal tire force on each wheel. This controller is based on optimal distribution control and has considered the friction circle related to vertical tire force and friction coefficient acting on the road and tire. Distributed longitudinal/lateral tire forces are determined in proportional to friction circle according to the changes of a driving condition. The response of the 6WD/6WS vehicle with the driving controller has been evaluated via computer simulations conducted using the Matlab/Simulink dynamic model. Computer simulations of a closed-loop driver model subjected to double lane change have been conducted to prove the improved performance of the proposed optimal distribution controller.
하이브리드 인휠 차륜형 차량(6WD)의 최적 동력 제어 기반의 주행 제어 알고리즘 개발
김원균(Wongun Kim),이경수(Kyongsu Yi),이종석(Jongseok Lee) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
This paper describes development of stability driving control algorithm based on optimal power control for inwheeled vehicle equipped with series hybrid power system. A hybrid and electric vehicle have been actively developed to enhance energy efficiency all over the world. In addition, in order to improve vehicle stability and performance, hybrid and electric vehicles equipped with in-wheel motors have been studied. Driving control algorithm consists of determination, upper level and lower level control and power management layer. The determination layer calculates desired steering angle of each wheel and acceleration from driver’s manual inputs which contains steering angle, throttle and brake commands. The upper level control layer includes yaw stability and vehicle speed control algorithm in order to follow driver’s purpose. The lower level control layer distributes longitudinal tire forces. The power management layer determines desired engine-generator and battery output power in order to enhance energy efficiency. Computer simulations are conducted to verify performance improvement of the proposed driving control algorithm using Mtlab/simulink.
GPS를 이용한 정지/서행 순항 제어와 충돌회피 통합제어 알고리듬 개발 및 시험 차량 성능 평가
김원균(Wongun Kim),이승종(Seungjong Yi),이경수(Kyongsu Yi) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper presents development of the stop-and-go cruise control algorithm integrated with collision avoidance algorithm and test results obtained using an electric vehicle. Sliding control theory has been used to develop a vehicle speed and distance control algorithm. A vehicle desired velocity has been designed based on the vehicle speed and distance control algorithm. The collision avoidance control was designed based on time-to-collision and warning index. The motor control inputs have been directly derived from the sliding control law. The performance of the control algorithm has been investigated through computer simulation and vehicle tests using an electric vehicle.
6WD/6WS 차량의 토크 분배 및 조향 제어 알고리즘 개발
김원균(Wongun Kim),강주용(Juyong Kang),이경수(Kyoungsu Yi),김용원(Yongwon Kim) 한국자동차공학회 2008 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
In this paper, distribution of required forces and moments to 6WD6WS(6 Wheel driving/6 wheel steering) vehicle is handled as torque-distribution and steering control under the assumption that all six wheels can be independently steered, driven and braked. The inputs to the optimization process are the driver's commands (steering wheel, acceleration pedal), while the outputs are lateral and longitudinal forces on all six wheels. In the upper level controller, desired yaw rate and longitudinal vehicle speed are defined as driver's steering input and acceleration pedal input through first-order transfer function with appropriate time constants, and required forces and moments are determined by sliding control theory. The total traction forces and the total yaw moment should be generated by longitudinal and lateral tire forces. Longitudinal tire forces affect total yaw moment and lateral tire forces have effect on traction forces. It is necessary to optimize tire force distribution in order to improve performance, stability and energy consumption. Lateral tire forces have to satisfy cost function for minimizing slip angle. and longitudinal tire forces have to satisfy cost function related friction circles. Both cost functions are related to the required total lateral. longitudinal tire forces and total yaw moment. Wheel torque is determined by slip ratio control based on sliding control method.
김원균(Wongun Kim),강주용(Juyong Kang),이경수(Kyongsu Yi),이종석(Jongseok Lee) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5
This paper describes integrated driving controller for 8WD/4WS hybrid vehicle equipped with in-wheel driving motors. The integrated driving controller has been developed to improve maneuverability and lateral stability. It consists of upper level and lower level controller. The upper level controller contains calculation of reference yaw rate, yaw rate controller based on sliding control method and speed controller to satisfy driver’s steering and throttle demands. The lower level controller distributes longitudinal tire forces and restricts wheel slip diverge on severe driving conditions. Longitudinal tire forces are coordinated to improve maneuverability and stability using optimal control theory. This coordination is conducted considering the size of the friction circle related to vertical tire force and friction coefficient acting on road and tire. Distributed tire forces are determined in proportional to friction circle according to the change of a driving condition. Slip controller reduces applied torque input on each wheel in order to prevent excess of slip ratio. The response of the 8WD/4WS vehicle with the driving controller has been evaluated via computer simulations conducted using the Matlab/Simulink dynamic model. Computer simulation of a closed-loop driver model subjected to double lane change has been conducted to prove the improved performance of the integrated driving controller.
6륜독립구동/6륜독립조향 차륜형 장갑차의 고속 주행 안정성 제어알고리즘에 관한 연구
김원균(Wongun Kim),이경수(Kyongsu Yi),이종석(Jongseok Lee) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
This paper describes development and performance verification of a driving control algorithm for a six wheeled driving and six wheeled steering (6WD/6WS) vehicle. This control algorithm is developed to improve vehicle stability under high speed driving conditions. The high speed stability control algorithm consists of stability decision and driving control algorithm. The stability decision algorithm determines desired longitudinal acceleration using high speed stable region and Gvectoring method. And it calculates the reference yaw rate based on steady state linear dynamic model of the vehicle. Including optimal distribution and yaw moment control, the driving control algorithm coordinates steering angles, drive and brake torques in order to maintain lateral, yaw stability and rollover prevention. Vehicle-driver-controller (closed-loop) and open loop simulations have been conducted to investigate the improved performance of proposed control algorithm.
지능형 자율주행 제어 알고리즘 개발 및 시험차량 성능평가
김원균(Wongun Kim),이경수(Kyongsu Yi) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
This paper presents development of a vehicle lateral and longitudinal control for autonomous driving control and test results obtained using an electric vehicle. Sliding control theory has been used to develop a vehicle speed and distance control algorithm. The longitudinal control algorithm that maintains safety and comfort of the vehicle consists of a cruise and STOP&GO control depending on traffic conditions. Desired steering angle is determined through the lateral position error and the yaw angle error based on preview optimal control. Motor control inputs have been directly derived from the sliding control law. The performance of the autonomous driving control which is integrated with a lateral and longitudinal control is investigated by computer simulations and driving test using an electric vehicle. Electric vehicle system consists of DC driving motor, an electric power steering system, main controller (Autobox)