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차량의 전복 방지 및 조향 안정성 향상을 위한 VDC 시스템의 제어기 개발
유승진(Seungjin Yoo),조준상(Joon-Sang Jo),유승한(Seung-Han You),이교일(Kyo Il Lee) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper presents the design of modularized controller for the VDC(Vehicle Dynamics Control). With this design scheme, the controller can be decomposed in the following two parts : vehicle dynamics controller and brake pressure controller. For vehicle dynamics controller, sliding mode controllers are designed that are activated in the order of priority to prevent rollover, excessive body sideslip angle, as well as understeer/oversteer of the vehicle. While, the brake pressure controller is designed to make brake pressures in each wheel track the desired pressures calculated in the vehicle dynamics controller. A feedback controller as well as a brake pressure estimator is designed based on the developed mathematical model for VDC hydraulic system. The results of the HILS(Hardware In the Loop Simulation) show that the roll angle, body sideslip angle and yaw rate responses of the vehicle are improved in the several driving scenarios.
유승진(Seungjin Yoo),유승한(Seung-Han You),김두형(Duhyung Kim),이교일(Kyo Il Lee) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
We investigate an optimal integrated control of the vehicle equipped with active steering system and independent braking system. The proposed controller uses DYC(Direct Yaw moment Control) and active 4WS(4 wheel steering) simultaneously to improve the handling and stability of vehicle. A model following robust controller that specifies the required yaw moment and total lateral tire force is designed though LMI(Linear Matrix Inequality) formulation. To generate the target steer angles and reference brake pressures in each 4 wheel, the control allocation method is synthesized via quadratic programming. Simulation results show that the proposed integrated controller enhances the stability and handling of vehicle effectively in several driving maneuvers.
실내 작업 건설 기계용 전동식 독립 조향 및 주행 제어 시스템 개발
유승진(Seungjin Yoo),이근호(Geun-Ho Lee),김영재(Yeong-Jae Kim),강종민(Jongmin Kang) 대한기계학회 2019 대한기계학회 논문집. Transactions of the KSME. C, 산업기술과 혁신 Vol.7 No.2
고령화와 도심지 건축물 리모델링 작업의 증가에 따라 향후 실내 공사에 필요한 다양한 tool을 쉽게 연결하여 사용할 수 있고 좁은 공간에서 이동성이 뛰어난 plug-in 타입의 지능형 전동식 복합기계가 유망할 것으로 전망된다. 본 연구에서는 이와 같은 전동식 복합기계에 적용 가능한 3-track 기반의 독립 조향 및 주행 플랫폼을 구현하기 위해 독립 조향 및 주행 플랫폼 제어 기술을 개발하여 테스트벤치에서 성능을 검증하였다. 특히 1) 순시 15kW, 연속 7.5㎾ 출력이 가능한 전기구동모듈을 제작하였고, 2) Triad track 주행 시스템을 제어하기 위한 전자유압모듈의 제작, 3) 주행체 제어 알고리즘 개발 및 임베디드 SW 구현 4) 테스트 벤치 구축 및 성능 검증을 수행하였다. As the aging and the remodeling works of the urban buildings are increasing, it is expected that a plug-in type intelligent electric multi-function machine will be promising in the near future, which feature has the high mobility in a narrow space and easy connectivity to various tools needed for indoor construction. In this study, a control system was developed and verified on a test bench to realize a 3-track independent steering and traveling platform applicable to such an electric multi-function machine. In particular, 1) an electric drive module capable of 15 kW instantaneous power and 7.5 ㎾ continuous output is developed and 2) an electrohydraulic module to control the triad track driving system is designed. 3) A control algorithm for the triad track system is developed and implemented as embedded software. 4) The control performance is experimentally verified on the test bench.