• 한국자동차공학회논문집
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• 제7권9호
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• pp.146-157
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• 1999

Safety systems for road vehicles have been rapidly developed in recent years. Especially, the VDC(Vehicle dynamics Control) system is a new active safety system for road vehicles which controls its dynamic vehicle motion in emergency situations . In the case of configuring the VDC system by utilizing the ABS(Anti-lock Brake System), the role of a control logic which directly influences the vehicle motion is very important. In this study the performance of the VDC vehicle was compared to the performances of the CBS (Conventional Brake system )and ABS vehicle. For various driving conditions , the simulation of vehicle dynamics with known VDC control logics was performed. Analysis results showed the VDC vehicle could stably perform even on the road of low coefficient of friction. In addition it was shown that the basic control logic for the VDC system could outstandingly improve driving stability in the case of braking as well as constant speed cruising.

• 드라이브 ㆍ 컨트롤
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• 제16권2호
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• pp.36-42
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• 2019

The ESP (Electronic Stability Program) is an active control system that controls the posture of the vehicle by sensing the unstable state of the vehicle during braking, driving, or turning. The system works if the vehicle becomes unstable and it is very dangerous to develop it in the actual vehicle. For this reason, many studies have been carried out on the method of developing with simulation such as SIL / EIL. Some advanced companies have already applied it to the product development process. In this study, ESP hydraulic system and braking device model were constructed using SimulationX to build ESP SIL / EIL model. The hydraulic system model was constructed using the actual design parameters and the performance of the hydraulic model was verified by comparing with the actual vehicle test.

• 유변학
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• 제11권2호
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• pp.105-111
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• 1999

감쇠기는 기계 시스템에서 에너지를 소모하는데 사용되는 요소이다. 이러한 감쇠기에는 수동 감쇠기, 능동 감쇠기, 반능동 감쇠기 등의 종류가 있다. 반능동 감쇠기는 수동 감쇠기에 비해서 더 좋은 성능을 내면서 능동 감쇠기보다는 더 작은 동력원을 필요로 하는 장치로 상황에 따라서 그 감쇠력 특성을 변화 시킬 수 있다. 본 논문은, 자기 유변 유체를 이용한 반능동 감쇠기의 개발에 관한 것이다. 자기 유변 유체는 가제어성 유체의 일종으로 인가 자기장에 대해서 그 유동학적 성질이 변하며 높은 항복응력, 낮은 점성계수, 불순물에 대한 안정성과 넓은 사용 온도 범위 등의 장점을 가진 재료이다. 이를 이용할 경우 간단한 구조로 반능동 감쇠기를 설계할 수 있을 뿐만 아니라 빠른 응답성 등의 효과도 기대할 수 있다. 본 연구에서는 자기 유변 유체를 이용하여 설계·제작된 몇 가지 종류의 감쇠기들을 통하여 그 응용 방법과 범위 그리고 응용 시 수반되는 문제점 등을 제시하였다.

• 전기전자학회논문지
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• 제22권1호
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• pp.223-226
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• 2018

최근 차량 사고로부터 탑승자를 보호하기 위해서 다양한 안전 기술이 집중적으로 개발되고 있다. 본 논문에서는 잠김 방지 브레이크 시스템, 견인력 제어 시스템, 제동력 배분 시스템, 전자 주행 안정 장치, 자동 긴급 브레이크, 에어백, 좌석벨트 프리텐셔너, 능동형 헤드레스트 등 다양한 차량용 탑승자 보호 기술을 살펴보고, 각 기술의 동작원리 및 구현에 대해 설명한다.

• 대한기계학회논문집A
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• 제27권5호
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• pp.666-672
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• 2003

This paper presents a design of the controller for vehicle lateral dynamics using active yaw moment. Vehicle lateral motion is incorporated with directional controllability and stability. These are conflicting each other from the view of vehicle handling performance. To compromise the trade-off between these two aspects, we suggest a new control algorithm based on the sliding mode with time-varying switching surface according to the body side slip angle. The controller can deal with the nonlinear region in vehicle driving condition and be robust to the parameter uncertainties in the plant model. Control performance is evaluated from the simulation for the vehicle of real parameters on the road with various tire-road frictions.

• 한국정밀공학회지
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• 제31권12호
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• pp.1141-1146
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• 2014

As life expectancy becomes longer, reduction of human muscular strength threatens quality of human life. Many robotic devices have thus been developed to support and help human daily life. This paper deals with a new type of in-wheel actuator that can be effectively used for the robotic devices. BLDC motor, drive board, brake, ARS (Attribute Reference System), and torque sensor are combined in the single actuator module. The torque sensor is used to recognize human intention and the in-wheel actuator drives walking aids in our system. Its feasibility was tested with the active walking aid device equipped with the in-wheel actuator. Based on it, we designed an admittance filter algorithm to react on uphill and downhill drive. By adjusting mass, damping, and spring parameters in accordance with the ARS output, it provided convenient drive to the old on uphill and downhill walks.

• 자동차안전학회지
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• 제5권1호
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• pp.37-43
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• 2013

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.

• Smart Structures and Systems
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• 제11권3호
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• pp.315-329
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• 2013

The construction of an experimental nonlinear structural model with little cost and unlimited repeatability for vibration control study represents a challenging task, especially for material nonlinearity. This paper reports the design, analysis and vibration control of a nonlinear structural experiment platform with adjustable hinges. In our approach, magnetorheological rotary brakes are substituted for the joints of a frame structure to simulate the nonlinear material behaviors of plastic hinges. For vibration control, a separate magnetorheological damper was employed to provide semi-active damping force to the nonlinear structure. A dynamic neural network was designed as a state observer to enable the feedback based semi-active vibration control. Based on the dynamic neural network observer, an adaptive fuzzy sliding mode based output control was developed for the magnetorheological damper to suppress the vibrations of the structure. The performance of the intelligent control algorithm was studied by subjecting the structure to shake table experiments. Experimental results show that the magnetorheological rotary brake can simulate the nonlinearity of the structural model with good repeatability. Moreover, different nonlinear behaviors can be achieved by controlling the input voltage of magnetorheological rotary damper. Different levels of nonlinearity in the vibration response of the structure can be achieved with the above adaptive fuzzy sliding mode control algorithm using a dynamic neural network observer.

• 대한기계학회논문집A
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• 제40권12호
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• pp.997-1003
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• 2016

본 논문은 자세 제어 장치와 능동 후륜 조향장치를 가지는 통합 섀시 제어에서 요 모멘트 분배를 위해 적응 알고리즘을 적용하는 방법을 제안한다. 통합 섀시 제어는 상위제어기와 하위제어기로 구성된다. 상위제어기에서 슬라이딩 모드 제어 이론을 이용하여 차량을 안정화시키는데 필요한 제어 요 모멘트를 계산한다. 하위제어기에서는 제어 요 모멘트를 만들어 내기 위해 자세 제어 장치의 제동 압력과 능동 후륜 조향장치의 조향각을 결정하는 데에 적응 알고리즘을 적용한다. 차량 시뮬레이션 패키지인 CarSim에서 시뮬레이션을 수행하여 제안된 방법의 타당성을 검증한다.

• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.646-654
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• 2010

This paper describes an integrated chassis control for a maneuverability, a lateral stability and a rollover prevention of a vehicle by the using of the ESC and AFS. The integrated chassis control system consists of a supervisor, control algorithms and a coordinator. From the measured and estimation signals, the supervisor determines the vehicle driving situation about the lateral stability and rollover prevention. The control algorithms determine a desired yaw moment for lateral stability and a desired longitudinal force for the rollover prevention. In order to apply the control inputs, the coordinator determines a brake and active front steering inputs optimally based on the current status of the subject vehicle. To improve the reliability and to reduce the operating load of the proposed control algorithms, a multi-core ECU platform is used in this system. For the evaluation of this system, a closed loop simulations with driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy.