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일반 및 연결식 시내버스의 종방향 제어를 위한 통합 동역학적 모델링
송봉섭(BongSob Song),홍민성(Min-Sung Hong) 한국자동차공학회 2004 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper presents the unified dynamic modeling of longitudinal control for automated transit buses. Using the rich set of information available via in-vehicle serial data networks and sensors, it is shown how the modeling can be simplified and validated effectively. Furthermore, the control model will be unified to consider both a 40-foot transit bus and a 60-foot articulated bus. This approach allows us to reduce the complexity of the controller as well as for the controller to deal with two different types of transit buses. Finally, the proposed dynamic model for two types of transit buses will be compared with experimental data, which were collected in the field driving test.
무인 시내버스 자동화 시스템을 위한 종방향 제어기 설계 및 검증
송봉섭(Bongsob Song),홍민성(Min-Sung Hong) 한국자동차공학회 2004 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper presents the design and experimental validation of longitudinal control for automated transit buses. The objective of the longitudinal controller is to follow either a given desired velocity or distance profile using the three control inputs, namely the engine torque, transmission retarder braking torque, and pneumatic braking torque. Based on the control model proposed in (1), the longitudinal controller is designed to achieve the desired control objectives. Furthermore, the proposed longitudinal controller is implemented and tested for both a 40-foot transit bus and a 60-foot articulated bus. Experimental performance of the controller will be shown in the end.
비전 센서와 교통사고 정보를 연동한 안전 보강 시스템 개발에 관한 연구
송봉섭(Bongsob Song),최기주(keechoo Choi),손상훈(Sanghoon Sohn),최정웅(Jeongwoong Choi) 한국자동차공학회 2005 한국자동차공학회 Symposium Vol.- No.-
A new approach for an active safety enhancement system to combine a sensor-based safety enhancement system with traffic accident database acquired through telematics and GIS technology is introduced. While telematics and GIS technology are developing rapidly for driving convenience and efficiency, e.g., navigation, many active driver safety enhancement systems conditionally applicable for a specific traffic situation have been developed. Hence, before the active safety enhancement system is activated, it is necessary to make sure that the current traffic environment and situation meets the operational conditions. In this study, traffic accident frequent area is defined and its location is stored in the database. Then, when the vehicle approaches in the area, traffic accident history will be informed to a driver. In addition, pedestrian detection and collision warning algorithm based on vision sensors is developed. The pedestrian collision warning system is designed for preventing a pedestrian accident in the traffic accident frequent area. Finally, the algorithm will be validated using field test images via off-line.
Hardware-in-the-loop 시뮬레이션을 이용한 차량의 종방향 제어기 설계 및 검증
송봉섭(Bongsob Song),백운혁(Woon-Hyuk Baek),신영호(Young-Ho Shin),송호인(Ho-In Song) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
In this paper, design and validation procedures for a longitudinal controller via hardware-in-the-loop simulation are presented. As new technologies related with ECU and in-vehicle network have been developed, the corresponding longitudinal controller for velocity control of the vehicle needs to be modified and validated experimentally. Since much development cost and effort during the design and validation process are in general required, a relatively quick and efficient design and validation method via hardware-in-the-loop simulation (HILS) is proposed in the paper. Finally speed controller based on Dynamic Surface Control is designed and its performance results are validated via HILS.
미지 입력을 가진 기계 시스템을 위한 비선형 관측기 설계
송봉섭(Bongsob Song),이지민(Jimin Lee) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.6
This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.
송봉섭(Bongsob Song),최정웅(Jung-Woong Choi) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6
In this paper, a methodology to generate a trajectory for a gait cycle and design a motion controller for the 5-link biped robot is presented. First, the critical gait cycle parameters are defined and the trajectories minimizing the Zero Moment Point (ZMP) variation during the gait cycle are determined. Then, based on the dynamic model of a 5-link biped robot, the nonlinear control based on Dynamic Surface Control (DSC) is applied to track the desired trajectories. Finally, the time responses of position and its tracking error for the biped robot with DSC will be shown in simulation.