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인-휠 모터 전기자동차의 비대칭로 운동 제어방법에 대한 연구
김상호(Sangho Kim),김창준(Changjun Kim),김동형(Donghyung Kim),최주영(Jooyoung Choi),한창수(Changsoo Han) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5
This study propose the control algorithm for a rear wheel driving electric vehicle with in-wheel motor on split-μ road. This control algorithm is developed to improve the vehicle stability on split-μ road. The control algorithm consists of direct yaw moment control and slip ratio control. The direct yaw moment control uses the different torque which generated by left and right wheels. And the slip ratio control uses the target slip ratio and PID motor control. By using this method, we can suppress the yaw rate on split-μ road. The effectiveness of the proposed method is verified by the simulation using TruckSim software.
최적타이어 힘 분배를 이용한 6WD/6WS 차량의 효율적인 경사로 등판 주행에 관한 연구
김상호(Sangho Kim),김창준(Changjun Kim),김동형(Donghyung Kim),최주영(Jooyoung Choi),한창수(Changsoo Han) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
Because of oil energy depletion and environmental problems, electric vehicles have been active for many studies. With the recent advancement of battery technology and the development of the in-wheel motor, multi-axle electric vehicles with an in-wheel motor mounted on each wheel are being studied with general 4-wheel electric vehicles. This power driving system has many advantages in terms of control. This paper presents an study on efficient hill climbing for 6WD/6WS vehicle which has in-wheel motor system of using the two torque distribution method. The one vehicle is used by the proposed algorithm. And the other vehicle is used by equivalent torque distribution method. Two vehicles are compared energy consumption for hill climbing. To verify the performance of the proposed algorithm, the simulation is executed using TruckSim software. According to simulation result, vehicle which is used optimal tire force distribution method consumes the low energy at the hill.
CarSim 차량 모델과 조향시스템 모델을 이용한 R-MDPS 알고리즘 개발
김기헌(Kiheon Kim),김창준(Changjun Kim),김현수(Hyunsoo Kim),한창수(Changsoo Han) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
In this paper, CarSim Vehicle model with 27 degree of freedom and MDPS System model using the Simulink Block were used to verify MDPS Control Algorithm. Vehicle behavior and efficiency of Vehicle movement were made an experiment using the MDPS control algorithm with Basic Assist Control, Returnability Control and Damping Control. This experiment method has the advantage of being economy of time and low costs. In days to come, the study using the Hardware In the Loop Simulation (HILS) and real vehicle will be based on this study.
자율주행 차량의 경유점 추종을 위한 통합된 궤적 계획기 및 제어기에 관한 연구
김동형(Donghyung Kim),김창준(Changjun Kim),김상호(Sangho Kim),최주영(Jooyoung Choi),최민석,한창수(Changsoo Han) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
This paper presents the integrated trajectory planner and controller for the waypoint tracking of autonomous vehicles. In the case of that there are no driving lanes, the trajectory should be planned for the vehicle. However, because of the nonholonomic constraint which renders the motion orthogonal to the vehicle’s forward direction is impossible, the trajectory planning and the control problems are becoming complicated. To solve these problems, the trajectory planning and control are integrated using the flatness property of the kinematic model of the vehicle. And with the given waypoints, the waypoint tracking algorithm is proposed to plan the trajectory for the next waypoint. Therefore the vehicle follows the waypoints in order. Finally, the performance of the proposed method is tested through simulation.
축소 모델 차량을 통한 자율 주행 차량의 경로 추종 및 장애물 회피 기법에 관한 연구
김동형(Donghyung Kim),김창준(Changjun Kim),김영렬(Youngryul Kim),한창수(Changsoo Han) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5
This paper presents a method that integrates the geometric path tracking and the obstacle avoidance for autonomous ground vehicle (AGV). AGV follows the path by moving through the turning radius given from the pure pursuit method which is the one of the geometric path tracking methods. As the AGV equipped with 2D laser scanner, the obstacle within the sensing range of 2D laser scanner, the virtual force is obtained. Therefore, the turning radius for avoiding the obstacle is calculated by inversely proportional to the virtual force. By integrating the turning radius for avoiding the obstacle and the turning radius for following the path, AGV follows the path and avoids the obstacle simultaneously. The effectiveness of the proposed method is verified through the real experiments using a scale-down vehicle.
김창준(Changjun Kim),김현수(Hyunsoo Kim),김기헌(Kiheon Kim),한창수(Changsoo Kim) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper is about steering system of Steer-by-Wire(SBW). As a SBW system is applied in order to improve steering feel and maneuverability, the controller should have two purposes. One is controlling steering wheel for the driver's steering feel and the other is controlling the front wheel system for vehicle stability. This study focuses on steering wheel system. The column is reduced in the SBW steering wheel system. Therefore it need artificial steering feel. This is the study for an objective evaluation method with steering angle, steering torque to quantify steering feel of SBW system. Based on this method, the affect two different torque map performance was simulated and compared each other.
인-휠 전륜 구동 전기자동차를 위한 선회 운동제어에 관한 연구
김상호(Sangho Kim),김창준(Changjun Kim),미안 아쉬팍 알리(Mian Ashfaq Ali),김동형(Donghyung Kim),백성훈(Sunghoon Back),한창수(Changsoo Han) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5
This paper proposes the control algorithm for a front wheel drive electric vehicle with in-wheel electric motor. This control algorithm is developed to improve the lateral vehicle dynamic motion. Driving Control algorithm for controlling the lateral movement of the vehicle consists of the direct yaw moment control algorithm and torque distribution algorithm. The direct yaw moment control algorithm determines the desired yaw moment for neutral steering performance and calculates the desired longitudinal force for longitudinal drive. Torque distribution algorithm defines the desired wheel torque on the left and right wheel from the desired yaw moment, desired longitudinal force and tire forces. The proposed control algorithm is simulated using CarSim software. The performance is verified by comparing the trajectory results and yaw rate results of a vehicle model with and without this control algorithm.
김창준(Changjun Kim),김기헌(Kiheon Kim),김현수(Hyunsoo Kim),한창수(Changsoo Han) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
When we study steering system, making use of HILS is general method to study. Generally, HILS of steering System is cheaper than real car test in the economical aspect and timesaving aspect. If we test various series of vehicles or use the other type of steering systems, however, uneconomical trial to establish the new HILS system. To minimize the economical and periodical loads, we would try to introduce the new HILS system to fit diverse steering systems. We design the moving column system to correspond to each other vehicles and adopt the extension unit to satisfy the many types of tread.
김상호(Sangho Kim),김창준(Changjun Kim),김동형(Donghyung Kim),최주영(Jooyoung Choi),박철(Cheol Park),윤주만(Juman Yoon),한창수(Changsoo Han) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
In-wheel independent driving electric vehicle system with an in-wheel motor mounted on each wheel has the three advantages in terms of control. Three advantages are generation of the fast torque, control of the accurate torque and generating different torques at the left and right wheels. This paper study the slip-ratio control for in-wheel motored rear wheel drive electric vehicle on a slippery road. The slip-ratio is also defined by the maximum friction coefficient. And PID motor control with target slip-ratio is used. The proposed slip-ratio control is verified by the simulation using TruckSim software and the experiment using in-wheel motored electric vehicle.
로봇형 차량의 경로 추종 및 장애물 회피를 위한 운동 계획에 관한 연구
김동형(Donghyung Kim),김창준(Changjun Kim),김상호(Sangho Kim),최주영(Jooyoung Choi),한창수(Changsoo Han) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a range scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstlace or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.