차량 안정성 향상을 위한 ESC와 ARS의 통합 샤시 제어 알고리즘 개발

허현동,이경수,서지윤,김종갑,Her, Hyundong,Yi, Kyongsu,Suh, Jeeyoon,Kim, Chongkap 한국자동차안전학회 2013 자동차안전학회지 Vol.5 No.1

This paper describes an investigation into coordinated control of electronic stability control (ESC) and active roll control system (ARS). The coordinated control is suggested to improve the vehicle stability and agility features by yaw rate control. The proposed integrated chassis control algorithm consists of a supervisor, control algorithms, and a coordinator. The supervisor monitors the vehicle status and determines desired vehicle motions such as a desired yaw rate and desired roll motion based on control modes to improve vehicle stability. According to the corresponding the desired vehicle dynamics, the control algorithm calculated a desired yaw moment and desired roll moment, respectively. Based on the desired yaw moment and the desired roll moment, the coordinator determines the brake pressures and the ARC motor torques based on control strategies. Closed loop simulations with a driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy using CarSim vehicle dynamics software and the integrated controller coded using Matlab/Simulink.

타이어 힘 정보를 이용한 차량 안정성 제어

허현동(Hyun Dong Her),이경수(Kyong Su Yi),황태훈(Tae Hoon Hwang) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5

본 논문에서는 타이어 힘에 기반하여 각 바퀴의 브레이크를 독립적으로 제어하는 전자식 차량 안정성 제어 장치(Electronic Stability Control)를 제안하였다. 본 논문에서는 타이어 정보를 직접적으로 이용하여 기존의 제어 알고리즘을 개선하였다. 제안된 제어 알고리즘은 상위 제어기와 하위 제어기로 구성되어있다. 상위제어기에서는 타이어 정보를 차량의 횡방향 모델에 직접적으로 사용하여 모델의 불확정성을 줄이고, 비선형 영역을 고려함으로써 정확한 제어입력을 계산하였다. 하위제어기에서는 종방향 타이어 힘에 따른 횡방향 타이어 힘 감소량을 계산하여 모멘트 평형식에 대입하여 상위 제어기에서 계산된 제어입력 추종을 위한 최적 브레이크압 분배를 구현하였다. 알고리즘의 검증은 차량-운전자-제어기 모델을 포함한 closed-loop 시뮬레이션으로 수행되었다. The development of an Electronic Stability Control using individual brake force distribution based on tire force information was presented in this paper. The objective of the proposed ESC algorithm is to determine the individual brake forces to improve the performance of the controller. This ESC algorithm consists of an upper level controller and a lower level controller. The upper level controller calculates the desired yaw moment for satisfying the driver’s intention. The lateral dynamic model can be more accurate by getting rid of the uncertainties caused by complex tire model. In the lower level controller, the individual braking forces are determined by the optimal strategy. The closed loop computer simulation results with driver-vehicle-controller system confirm the effectiveness of the proposed control system and the improvements in vehicle stability.

각 바퀴 타이어 힘을 이용한 브레이크 최적 분배

허현동(Hyundong Heo),황태훈(Taehoon Hwang),이경수(Kyongsu Yi) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11

This paper presents an Electronic Stability Control (ESC) algorithm to improve vehicle stability using individual tire force information. The objective of the proposed ESC algorithm is to determine the optimal distribution of individual wheel braking forces based on tire forces being exerted on the road to improve the performance of the controller. This ESC algorithm consists of an upper level controller and a lower level controller. The upper level controller uses the measured or estimated signal from vehicle to calculate the desired yaw moment for satisfying the driver’s intention. On this occasion, lateral tire forces are approximated by using the measured and estimated signals. The lateral dynamic model can be more accurate by getting rid of the uncertainties caused by complex tire model when you directly apply the current tire forces to the model. The controller which is used to improve vehicle steerability and to maintain vehicle stability under extreme driving situations is then designed by using the Sliding Mode Control (SMC) technique, respectively. In the lower level controller, the individual braking forces are determined by the optimal strategy. The closed loop computer simulation results with driver-vehicle-controller system confirm the effectiveness of the proposed control system and the improvements in vehicle handling and stability.

선회성능 향상을 위한 능동형 롤바 제어 알고리즘 개발

허현동(Hyun dong Her),이경수(Kyong Su Yi),김길수(Kilsoo Kim) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.4

차량 안정성과 조종성 향상을 위한 통합 샤시 제어 알고리즘 개발

허현동(Hyundong Her),이경수(Kyongsu Yi) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5

This paper presents an integrated chassis control system equipped with electronic stability control (ESC), and continuous damping control system (CDC) in order to improve the vehicle stability, responsiveness, and agility features. Recently, vehicles are equipped with chassis control devices improving the vehicle stability and handling in severe maneuvers in dangerous situations. The coordination of these chassis control devices can give synergies such as between the agility control with ESC and CDC. At first, this paper describes the influence of specifying a CDC control strategies to effect the handling dynamics. Also, because distribution between front and rear damping forces affect the vehicle dynamics, these effects are considered to determine the optimal control input of active front steering angle and brake forces. In order to analyze the CDC effect, the calculation of lateral tire force deviation by damping forces is described in first section. An integrated chassis controller has Supervisor, Controller and Coordinator. Simulations on vehicle simulation software, CarSim, show the proposed simulation based optimization is effective for the integrated chassis control.

유압 시스템라인의 콤퓨터제어에 관한 연구

현동수,허만성 大田工業大學 1991 한밭대학교 논문집 Vol.8 No.1

A theoretical research was conducted to develop a successful modelling technique which will be able to faithfully represent hydraulic transmission lines in a hydraulic system. Further, dynamic control strategies were integrated with the mathematical model development to form an inline controller to control the dynamics as desired. The Pulse Testing method can be used to identify a system regardless of line length. When the natural frequency of a hydraulic system is high, the line dynamics effect on the hydraulic system is more obvious. PI and PID control can achieve the velocity control and the position control of hydraulic system regardless of line length.

환경 정보를 이용한 상용차량 전복 방지 알고리즘 개발

박동우,허현동,이경수,Park, Dongwoo,Her, Hyundong,Yi, Kyongsu 한국자동차안전학회 2013 자동차안전학회지 Vol.5 No.1

When it comes to commercial vehicles, their unique characteristics - center of gravity, size, weight distribution - make them particularly vulnerable to rollover. On top of that, conventional heavy vehicle brake exhibits longer actuation delays caused in part by long air lines from brake pedal to tires. This paper describes rollover prevention algorithm that copes with the characteristics of commercial vehicles. In regard of compensating for high actuating delay, predicted rollover index with short preview time has been designed. Moreover, predicted rollover index with longer preview time has been calculated by using road curvature information based on environment information. When rollover index becomes larger than specific threshold value, desired braking force is calculated in order to decrease the index. At the same time, braking force is distributed to each tire to make yaw rate track desired value.

실내의 가구화재성상에 관한 연구

이동욱,현동수,허만성 大田産業大學校 1995 한밭대학교 논문집 Vol.12 No.0201

In the event of fire in a compartment the available safe egress time for occupants to evacuate the compartment depends on the time of fire detection and on the time of onset of hazardous conditions. To know fire frowth and smoke transport for compartmented structure, actual fire tests of trasfcan, carpet, mattress and wardrobe were performed. The results are that the most hazardous gas is carbon monoxide(CO), carbon dioxide(CO_2), oxygen depletion hot temperature, etc, that the hot smoke temperature is almost same from 150cm to 290cm elevation off floor in the comportment, that the flashover was occurred in mattress and wardrobe fire.

전방 추돌 회피를 위한 긴급 주행 보조 알고리즘 개발

최재웅(Jaewoong Choi),허현동(Hyundong Her),민석기(Sukki Min),김종갑(Jongkap Kim),이경수(Kyongsu Yi) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5

긴급 주행 보조 시스템은 MDPS와 ESC를 활용하여 운전자의 충돌 회피를 보조한다. 운전자가 조향 입력을 통하여 충돌을 회피하려 할 경우, 긴급 주행 보조 알고리즘은 작동한다. 긴급 주행 보조 알고리즘은 총 4개 파트로 구성되어 있는데, 이는 각각 위험 인지, 운전자 의도 판단, 제어 전략 결정, 제어 이다. 위험 인지 단계에서는 현재 상황 위험성과 위험 영역을 도출하며, 운전자 의도 판단의 경우 운전자가 조향 입력을 통하여 충돌 회피를 하려는 것인지 판단한다. 제어 전략 결정 단계에서는 제어 동작 여부와 사용할 엑츄에이터를 결정하며, 제어 단계에서는 각 엑츄에이터의 제어량을 결정한다. 제시된 알고리즘은 차량 동역학 시뮬레이션 소프트웨어 CARSIM과 MATLAB/SIMULINK를 활용하여 시뮬레이션하였다. Emergency driving support (EDS) algorithm supports the driver to avoid collision using motor driven power steering (MDPS) and electronic stability control (ESC). If driver try to avoid rear-end collision using steering input, the EDS system activated and support the driver. The EDS algorithm consists of 4 parts: risk monitoring, driver monitoring, decision and control. In risk monitoring process, inverse time-to-collision is used for risk monitoring and danger area is estimated. In driver monitoring process, driver’s intention in emergency situation is estimated. In decision process, the control policies are determined. Finally, in control process, the control inputs of actuators are determined. The performance of proposed algorithm has been investigated via computer simulation conducted to vehicle dynamic software CARSIM and Matlab/Simulink.

Multi-CPU를 이용한 통합샤시 제어로직 구현 및 성능검증

서경일(Kyungil Seo),조완기(Wanki Cho),허현동(Hyundong Heo),이경수(Kyongsu Yi) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4

This paper describes the design and evaluation procedure of a Unified Chassis Control (UCC) Algorithm for implementation on a Field Programmable Gate Array (FPGA) assisting multi-core processes. The UCC algorithm consists of three parts ? the Supervisor, the Main Controller and the Fault Detection, and Isolation (FDI)/ Fault Tolerance Control (FTC). The architecture supports a distributed control with analytical and physical redundancy capabilities. The Supervisor comprises estimation, monitoring and decision logic components based on a Rollover Index (RI). The Main Controller is made up of Rollover Mitigation Control (RMC), Active Front Steering (AFS) control and Electronic Stability Control (ESC) elements. The FDI/FTC is composed of subsystems for handling sensor and brake actuator faults. The aims of the multi-core ECU platforms proposed by this paper are to reduce the operating load and to maximize reliability in order to maintain improvements of the vehicle’s dynamics performance. A Vehicle Simulator and Brake Hardware-In-the-Loop Simulator (HILS) are used to evaluate the proposed algorithm. The test results show that the UCC algorithm improves the performance of lateral stability, and that is able to recover from sensor and actuator fault conditions. In addition to these, the multi-core processor structure enhances reliability, and reduces the execution time.