• 제목/요약/키워드: Active Brake

검색결과 45건 처리시간 0.024초

Sliding Mode Control 및 Fuzzy Logic Control 방법을 이용한 AFS 및 ARS 제어기 설계 및 성능 평가 (Design and Evaluation of AFS and ARS Controllers with Sliding Mode Control and Fuzzy Logic Control Method)

  • 송정훈
    • 한국자동차공학회논문집
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    • 제21권2호
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    • pp.72-80
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    • 2013
  • This study is to develop and evaluate an AFS and an ARS controllers to enhance lateral stability of a vehicle. A sliding mode control (SMC) and a fuzzy logic control (FLC) methods are applied to calculate the desired additional steering angle of AFS equipped vehicle or desired rear steer angle of ARS equipped vehicle. To validate AFS and ARS systems, an eight degree of freedom, nonlinear vehicle model and an ABS controllers are also used. Several road conditions are used to test the performances. The results showed that the yaw rate of the AFS and the ARS vehicle followed the reference yaw rate very well within the adhesion limit. However, the AFS improves the lateral stability near the limit compared with the ARS. Because the SMC and the FLC show similar vehicle responses, performance discrimination is small. On split-${\mu}$ road, the AFS and the ARS vehicle had enhanced the lateral stability.

작동기가 불충분한 매니퓰레이터의 진동적 제어 (Vibrational control of an underactuated mechanical system)

  • Lee, Kang-Ryeol;Hong, Keum-Shik;Lee, Kyo-Il
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.151-154
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    • 1997
  • An open loop vibrational control of underactuated mechanical systems with amplitude and frequency modulations is investigated. The underactuated systems considered in the paper are assumed to have free joints with no brake. The active joints are positioned first by a linearizing control, and then periodic oscillatory inputs are applied to them to move the remaining free joints to their desired states. A systematic way of obtaining averaged systems for the underactuated systems with oscillatory vibrations is developed. A complete solution to the open loop control strategy in terms of determining amplitudes and frequencies for general system is still under investigation. However, a specific control design for 2R manipulator which is obtained the averaging system is demonstrated.

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A COOPERATIVE CONTROL FOR CAR SUSPENSION AND BRAKE SYSTEMS

  • Nouillant, C.;Assadian, F.;Moreau, X.;Oustaloup, A.
    • International Journal of Automotive Technology
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    • 제3권4호
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    • pp.147-155
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    • 2002
  • Mechatronic subsystems are more and more developed in automotive industries. To enhance the local controls performances, a cooperative control between ABS and Suspension systems is proposed. The respective controls are first designed separately with their dedicated models. Then a hybrid hierarchical architecture is developed. The advantage of this architecture is discussed through vehicle performance with simulation results.

불충분한 작동기를 가진 기계시스템의 진동적제어: 평균화기법을 통한 제어 설계 (Vibrational Control of an Underactuated Mechanical System : Control Design Using the Averaging Method)

  • 이강렬;홍금식;이교일
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1995년도 추계학술대회 논문집
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    • pp.534-537
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    • 1995
  • An open loop vibrational control of underactuated mechanical system with amplitude and frequency modulations is investigated. The underactuated systems sonsidered in the paper are assumed to have free joints with no brake. The active joints are positioned first by a linearizing control, and then periodic oscillatory input are applied to them to move the remaining free joints to their desired states. A systematic way of obtaining averaged systems for the underactuated systems with oscillatory vibration is developed. A complete solution to the open loop control strateegy in terms of determining amplitudes and frequencies for general system is still under investigation. However, a specific control design for 2R manipulator which is obtained through the averaged system is demonstrated.

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WHEEL SLIP CONTROL WITH MOVING SLIDING SURFACE FOR TRACTION CONTROL SYSTEM

  • Chun, K.;Sunwoo, M.
    • International Journal of Automotive Technology
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    • 제5권2호
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    • pp.123-133
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    • 2004
  • This paper describes a robust and fast wheel slip tracking control using a moving sliding surface technique. A traction control system (TCS) is the active safety system used to prevent the wheel slipping and thus improve acceleration performance, stability and steerability on slippery roads through the engine torque and/or brake torque control. This paper presents a wheel slip control for TCS through the engine torque control. The proposed controller can track a reference input wheel slip in a predetermined time. The design strategy investigated is based on a moving sliding surface that only contains the error between the reference input wheel slip and the actual wheel slip. The used moving sliding mode was originally designed to ensure that the states remain on a sliding surface, thereby achieving robustness and eliminating chattering. The improved robustness in driving is important due to changes, such as from dry road to wet road or vice versa which always happen in working conditions. Simulations are performed to demonstrate the effectiveness of the proposed moving sliding mode controller.

다층막을 이용한 거대자기저항(GMR)의 특성 연구 (A Study on the Characteristics of Giant Magneto Resistance using Multi Layers)

  • 김병우;이영석
    • 한국자동차공학회논문집
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    • 제16권5호
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    • pp.113-118
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    • 2008
  • We have developed an integrated giant magneto resistance using not only circuit but also integrating technique with semiconductor for automobile application. It has four elements used for giant magneto resistance sensor. Ni-Fe/Cu multi layers were prepared on a glass substrate by magnetron sputtering. The dependence of magneto resistance on the thickness of the Ni-Fe and Cu layers was investigated. The MR ratio showed a saturated a peak at Cu layer $10{\AA}$, Ni-Fe layer $50{\AA}$, where the MR ratio is about 8.7% at room temperature. By means of Ni-Fe multi film and specific integrating technique, these new giant magneto resistance sensor showed excellent resistance characteristics.

최적 요모멘트 분배 방법을 이용한 고장 안전 통합 섀시 제어기 설계 (Integrated Chassis Control System with Fail Safety Using Optimum Yaw Moment Distribution)

  • 임성진
    • 대한기계학회논문집A
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    • 제38권3호
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    • pp.315-321
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    • 2014
  • 본 논문은 전자제어식 조향 및 제동 장치를 장착한 차량에 대해 고장 안전 기능을 가지는 통합 섀시 제어 시스템을 제안한다. 통합 섀시 제어 시스템에서 상위 제어기는 슬라이딩 모드 제어 이론을 이용하여 제어 요모멘트를 만들어 낸다. 하위 제어기는 가중 의사-역행렬 기반 제어 분배 방법(WPCA)으로 제어 요모멘트를 전자제어식 조향 및 제동 장치의 타이어 힘으로 분배한다. WPCA 의 가변 가중치를 조절하여 구동기 혹은 센서의 고장에 대처할 수 있다. 이러한 상황에서 WPCA 방법으로 가변 가중치를 최적화하여 요모멘트 분배 성능을 향상시키기 위해 시뮬레이션을 이용한 최적화 방법을 제안한다. 제안된 방법의 타당성을 검증하기 위해 차량 시뮬레이션 패키지인 CarSim 에서 시뮬레이션을 수행한다.

온도변화에 강인한 EPB 시스템의 모델기반 고장검출 방법 (Robust Model Based Fault Detection of EPB System for Varying Temperature)

  • 문병준;박종국
    • 한국자동차공학회논문집
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    • 제17권5호
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    • pp.26-30
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    • 2009
  • In this paper, a robust model based fault detection for varying temperature is proposed, To develop a robust force estimation model, it needs temperature information because the force sensor's output is affected by a temperature variation. If an EPB system does not include a temperature sensor, the model has a much larger error than an EPB system with a built-in temperature sensor. Therefore, the temperature is estimated by using Ohm's law. The force model is applied with a motor current, battery voltage, operation mode, and the estimated temperature to detect a force sensor's abnormal signal fault. The residual is calculated by comparing the value of the measured force and the estimated force. Fault information is collected by using the output of the evaluated residual with the adaptive thresholds. A proposed robust model based fault detection for varying temperature was verified by HILS (Hardware in the Loop Simulation).

자동차용 마찰재에 사용되는 흑연과 마그네시아에 따른 전이막과 마찰특성에 관한 연구 (The Effects of Graphite and Magnesium Oxide in Automotive Friction Materials on Friction and Formation of Transfer Film)

  • 배은갑;윤장혁;장호
    • 한국윤활학회:학술대회논문집
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    • 한국윤활학회 2002년도 제35회 춘계학술대회
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    • pp.226-234
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    • 2002
  • A systematic study of the role of transfer films on friction properties was performed with various temperatures in the brake system. An NAO friction material specimens containing 9 ingredients were tested using a pad-on-disk type friction tester A new method of measuring the transfer film thickness was developed by considering the electrical resistance of the transfer film using a 4-point probe technique. The properties of transfer film such as surface morphology and film distribution vaied according to the relative amount of graphite and magnesium oxide. By using SEM, it was possible to obtain information about the chemical composition of the transfer film. Results showed that there detected a threshold value of the relative amount of a two active materials to maintain a certiain thickness of a transfer film. Results also showed that formation of friction layer generated on the friction surface was strongly affected by chemical action of two ingredients during sliding due to chemical reaction of solid lubricants at different interface temperature. The results suggested that no apparent relationship between transfer film thickness and the average friction coefficient was founded and friction characteristics were affected more by the property of the solid lubricant and abrasive in the material.

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모터와 브레이크의 동시구현에 기초한 다양한 햅틱효과의 제시 (Various Haptic Effects Based on Simultaneous Actuation of Motors and Brakes)

  • 권태범;송재복
    • 제어로봇시스템학회논문지
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    • 제11권7호
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    • pp.602-608
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    • 2005
  • In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic devices. Motors can generate a torque in any direction, but they can make the system active during operation, thus leading to instability. Brakes can generate a torque only against their rotation, but they dissipate energy during operation, which makes the system intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. Among various haptic effects, contact with the virtual wall, representation of friction and representation of plastic deformation have been investigated extensively in this paper. It is shown that the hybrid haptic device is more suited to some applications than the motor-based haptic device.