DOI QR코드

DOI QR Code

위성항법시스템을 이용한 연결식 차량의 잭나이핑 현상 예방을 위한 축소차수 상태관측기 설계

Reduced Order Luenberger State Observer Design for the Jackknifing Phenomenon Prevention of Articulated Vehicles using GPS

  • 이병석 (한국항공우주연구원 위성항법팀) ;
  • 허문범 (한국항공우주연구원 위성항법팀)
  • 투고 : 2012.04.24
  • 심사 : 2012.06.26
  • 발행 : 2012.07.01

초록

This paper deals with ROLSO (Reduced Order Luenberger State Observer) design to prevent jackknifing phenomenon of articulated vehicles consisting of the tractor and semi-trailer by using GPS. In addition, by applying the regulator system using ROLSO feedback system, simulation's result presents that articulated vehicle's states are stabilized than the human's PR time (Preception Response time) rapidly. This simulation verifies that the automatic control of articulated vehicle's can be applied for the accident prevention for the time that the driver is unable to manage with the sudden accident. For this simulation, by using the equation of planar motion, the modeling of the articulated vehicle was performed. This modeling was expressed in the state space model. And FOLSO (Full Order Luenberger State Observer), ROLSO were designed by using the state space model of an articulated vehicle's dynamics.

키워드

과제정보

연구 과제번호 : 재난예방 및 국민안전제고를 위한 위성기반 위치추적기술 연구

연구 과제 주관 기관 : 기초기술연구회

참고문헌

  1. C. Chen and M. Tomizuka, "Steering and independent braking control for tractor-semitrailer vehicle in automated highway systems," Proc. of IEEE conference on Decision & Control 1995, New Orleans, LA, pp. 1561-1566, Dec. 1995.
  2. D. de Bruin and P. P. J. van den Bosch, "Modelling and control of a double articulated vehicle with four steerable axles," Proc. of the American Control Conference 1999, San Diego, California, pp. 3250-3254, June 1999.
  3. N. L. Azad, A. Khajepour, and J. McPhee, "Analysis of jackknifing in articulated steer vehicles," IEEE conference on Vehicle Power and Propulsion, pp. 216-220, Dec. 2005.
  4. M. Bouteldja, A. Koita, V. Dolcemascolo, and J. C. Cadiou, "Prediction and detection of jackknifing problems for tractor semi-trailer," IEEE conference on Vehicle Power and Propulsion, pp. 1-6, Sep. 2006.
  5. L. Mai, P. Xie, and C. Zong, "Research on algorithm of stability control for tractor semi-trailer," Proc. of IEEE International Conference on Mechatronics and Automation 2009, Changchun, China, pp. 4224-4228, Aug. 2009.
  6. L.-K. Chen and Y.-A. Shieh, "Jackknife prevention for articulated vehicles using model reference adaptive control," Proc. of IMechE Part D : Journal of Automobile Engineering, vol. 225, no. 1, pp. 28-42, Jan. 2011. https://doi.org/10.1243/09544070JAUTO1513
  7. R. Rajamani, Vehicle Dynamics and Control, Springer, 2006.
  8. R. M. Brach, "Vehicle dynamics model for Simulation on a Microcomputer," International Journal of Vehicle Design, Inderscience Enterprises Ltd., vol. 12 no. 4, pp. 404-419, 1991.
  9. L. Alexander, M. Donath, M. Hennessey, V. Morellas, and C. Shankwitz, "A lateral dynamic model of a tractor-trailer : experimental validation," The University of Minnesota, pp. 1-9, Nov. 1996.
  10. J. Chen and Z. Liu, "Modeling and parameter identification of a tractor semitrailer/driver closed-loop system using the SA (Simulated Annealing) optimization approach," Proc. of IEEE Conference on Information and Automation 2010, Harbin, China, pp. 222-227, June 2010.
  11. D. G. Luenberger, "Observing the state of a linear system," IEEE Transactions on Military Electronics, vol. 8, no. 2, pp. 74-80, Apr. 1964. https://doi.org/10.1109/TME.1964.4323124
  12. D. G. Luenberger, "An introduction to observers," IEEE Transactions on Automatic Control, vol. AC-16, no. 6, pp. 596-602, Dec. 1971. https://doi.org/10.1109/TAC.1971.1099826
  13. C. Elmas and H. Z.-D. La Parra, "Application of a full-order extended Luengerber observer for a position sensorless operation of a switched reluctance motor drive," Proc. of IEE on Control Theory and Application, vol. 143, no. 5, pp. 401-408, Sep. 1996. https://doi.org/10.1049/ip-cta:19960421
  14. J. Song, K.-B. Lee, J.-H. Song, I. Choy, and K.-B. Kim, "Sensorless Vector control of induction motor using a novel reduced-order extended luenberger observer," IEEE conference Record of Industry Applications 2000, vol. 3, pp. 1828-1834, 2000.
  15. K. Ogata, Modern Control Engineering, 2nd Ed., Prentice Hall Inc., pp. 795-821, 1990.
  16. B. Gao, H. Chen, H. Zhao, and K. Sanada, "A reduced-order nonlinear clutch pressure observer for automatic transmission," IEEE Transactions on Control Systems Technology, vol. 18, no. 2, pp. 446-453, Mar. 2010. https://doi.org/10.1109/TCST.2009.2024758
  17. J. Kautsky, N. K. Nichols, and P. Van Dooren, "Robust Pole Assignment in Linear State Feedback," International Journal of Control, vol. 41, pp. 1129-1155, 1985, Taylor & Francis Online https://doi.org/10.1080/0020718508961188
  18. P. L. Olson, "Forensic aspects of driver perception and response," Lawyers and Judge Publishing Co. Inc., p. 172, 1996.
  19. S. Kennedy, D. Cosandier, and J. Hamilton, "GPS/INS integration in real-time and post-processing with NovAtel's SPAN system," IGNSS Symposium, Dec. 2007.
  20. K.-S. Lee, "On the design of a finite time reduced order observer," Transactions on Korean Institute of Electrical Engineers (in Korean), vol. 59, no. 5, pp. 961-965, May 2010.
  21. Ministry of Land, Transport and maritime affairs, MLTM-related statistics, Total Registered Motor Vehicles (in Korean), http://stat.mltm.go.kr. Feb. 2012.
  22. D. M. Kang and S. M. Ahn, "A study on the factors that influence jack knife phenomenon of articulated vehicles," Transactions on Korea Society for Power System Engineering (in Korean), vol. 11, no. 2, pp. 58-63, May 2007.
  23. I.-H. Yoon and C.-K. Yoo, Freight Transportation, Hyungseul publishing Co., pp. 86-88, 2008.
  24. H. S. Bang, K. H. Lee, C. B. Lee, and S.-C. Kim, Logistics Management (in Korean), Crbooks, p. 168, May 2011.
  25. L. S. Beom, W. C. Kim, D. H. Hong, and D. S. Oh, "A study of perception response time on various operating speeds," Transactions on Korea Society of Civil Engineers (in Korean), vol. 22, no. 6-D, pp. 1105-1116, Nov. 2002.
  26. S. K. Lee, Y. R. Kim, K. S. Noh, and J. H. Jeong, "Improvement of semi-trailer design standard for road geometry," Conference on Korean Society of Road Engineers (in Korean), vol. 7, pp. 355-360, Nov. 2005.
  27. J.-U. Park, S. K Cho, J. H. Jo, J.-H. Cho, H.-C. Lim, and B. K. Choi, "Research and development for construction of nationwide DGPS(IV); A study on communication technique for high-accuracy DGPS," Korea Astronomy and Space science Institute (in Korean), pp. 27-53, Apr. 2006.
  28. K. K. Jeon, S. J. Choi, D. H. Shin, and B. H. Lee, "Development of vehicle rollover warning and auto-braking system algorithm using GPS," Conference on Korean Society of Automotive Engineers (in Korean), vol. 6, pp. 760-765, 2006.
  29. J. Y. Hwang, H. J. Kang, and B. J. Kim, "Development of vehicle rollover prevention system using GPS at entering corner," Korean Society of Automotive Engineers ITS Symposium (in Korean), pp. 73-78, 2006.
  30. ProPak-V3, NovAtel, Product Sheet, 2011.
  31. HG1700 Inertial Measurement Unit, Honeywell, Data Sheet, 2006.
  32. R. Istvan, I. Jozsef, K. Gyoergy, M. Jenoe, and L. Nandor, "Anti-jackknifing device with friction brake for articulated motor vehicle," Pat. no. 04494765, US, 1985.
  33. R. David, Y. Chi, K. Dennis, and S. Paul, "Anti-jackknifing hitch assembly," Pat. no. 07540523, US, 2009.