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자율주행 차량을 위한 Full Redundancy MDPS 시스템 개발
김병준(Byungjoon Kim),김천규(Cheonkyu Kim),유지훈(Jihun Yoo) 한국자동차공학회 2018 한국자동차공학회 부문종합 학술대회 Vol.2018 No.6
An autonomous vehicle is a vehicle that travels to a given destination by recognizing the surrounding environment without the driver’s intervention, judging the driving situation, and controlling the vehicle. In an autonomous driving vehicle, the MDPS system is a system that performs a steering function by receiving an operating command of an autonomous driving system that the vehicle judges and drives completely independently of the driver. The risk of accidents is very high in case of failure of the steering device in the autonomous driving stage 3 or more without obligation of the driver. Therefore, a Full Redundancy MDPS system that requires normal steering function even when MDPS system fails is needed. The control system of the Full Redundancy MDPS can produce a normal 100% output with a double designed motor each output 50%. If one of the dual designed control systems fails, it can generate 50% of the output, so the MDPS system can maintain the steering force even in case of failure. In this paper, we describe the redundant design of parts such as torque sensor, motor position sensor, motor winding and ECU for the development of Full Redundancy MDPS of autonomous vehicle that maintains the steering force even in case of failure. In addition to the performance in the single condition, we have applied the system through the actual vehicle and evaluated it.
MDPS 모터 위치 센서의 Fail-Operation 알고리즘 개발
김문수(Munsu Kim),유지훈(Jihoon Yoo),김천규(Cheonkyu Kim) 한국자동차공학회 2017 한국자동차공학회 부문종합 학술대회 Vol.2017 No.5
In this paper, the fail-operation algorithm is proposed in order to maintain the steering assist even when motor position sensor failure occurs at MDPS(Motor Driven Power Steering) System. Although there are various kinds of motor position sensors, this paper covers only about sensor that composed of the hall and encoder signal. Conventional method for detecting failure mode of the motor position sensor is that using an angle deviation between the two sensor signals and then the motor drives stop when fault detection. The reason stop the motor is that unable to detect failure with only other normal sensor. So this paper proposed a method for detecting a fault each sensor. Through this proposed algorithm, the motor is able to continue its operation using a normal sensor. Experimental results are presented to verify feasibility of the proposed failoperation algorithm.
MDPS 모터 전류센서리스 및 상 오픈 제어 알고리즘 개발
이창원(Changwon Lee),김문수(Munsu Kim),유지훈(Jihoon Yoo),김천규(Cheonkyu Kim),이세복(Sebok Lee) 한국자동차공학회 2017 한국자동차공학회 학술대회 및 전시회 Vol.2017 No.11
These days the technology about Autonomous Vehicles for accident by driver"s mistake attract great attention. Many advanced companies are developing a part of Autonomous Vehicles. For succeeding Autonomous Vehicles, Drivers have to drive safely without keeping eyes forward. Fail Operation technology with no breakdown while driving is needed for Autonomous Vehicles. In this paper, we suggest Fail Operation method which continue steering assist when MDPS‘s motor phase open or failure in current sensor. Open-Loop algorism using current commend controls MDPS when current sensor failed. In this case, Open-Loop control suggests the method of making 2D table type. Input current commend and motor speed of 2D table type, and Output voltage value of 2D table type. Also, the motor phase open propose the method using other 2 normal phases. It composed of coordinate system transform, Torque optimization and PWM conversion. Or these suggestions, it is possible to keep steering assist when current sensor and motor phase open are broken down.