• 유공압시스템학회:학술대회논문집
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• 유공압시스템학회 2010년도 춘계학술대회
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• pp.56-61
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• 2010

Simulator is a development equipment which enables the ECU to operate in normal mode by simulating the interface signal between ECU and mechanical system electrically. Embedded simulator means simulation function is embedded in ECU firmware, hence the electrical signal interface is replaced by the substitution of information at system program level. This paper explains the development of embedded transmission simulator for the verification of TCU firmware function which covers shifting control and on-board diagnosis. The embedded simulation program is executed in TCU processor along with the TCU firmware and it provides TCU firmware with not only the speed information those are appropriate both in driving and shifting conditions, but also the fault detection signals. Experimental results show that the validity of embedded simulator and its usefulness to the TCU firmware development and verification.

• 드라이브 ㆍ 컨트롤
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• 제20권4호
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• pp.17-26
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• 2023

A forklift is an industrial vehicle that lifts or transports heavy objects using a hydraulically operated fork, and is equipped with an automatic transmission for the convenience of repetitive transportation, loading, and unloading work. The Transmission Control Unit (TCU) is a key component in charge of the shift control function of an automatic transmission. It consists of an electric circuit with an input/output signal interface function and firmware running on a microcontroller. To develop TCU firmware, the development process of shifting algorithm design, firmware programming, verification test, and performance improvement must be repeated. A simulator is a device that simulates a mechanical system having dynamic characteristics in real time and simulates various sensor signals installed in the system. The embedded transmission simulator is a simulator that is embedded in the TCU firmware. information related to the mechanical system that is necessary for TCU normal operation. In this study, an embedded transmission simulator applied to the originally developed forklift TCU firmware was designed and used to verify various forklift shift control algorithms.

• 드라이브 ㆍ 컨트롤
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• 제14권4호
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• pp.29-36
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• 2017

Electronic control technologies that have long been developed for passenger cars spread to construction equipment and agricultural vehicles because of its outstanding performance achieved by embedded software. Especially, system program of transmission control unit (TCU) plays a crucial role for the superb shift quality, driving performance and fuel efficiency, etc. Since the control algorithm is embedded in software that is rarely analyzed, development of such a TCU cannot be conducted by conventional reverse engineering. Transmission simulator is a kind of electronic device that simulates the electric signals including driver operation command and output of various sensors installed in transmission. Standalone TCU can be run in normal operation mode with the signals provided by transmission simulator. In this research, transmission simulator for the tracked vehicle TCU is developed for the analysis of shift control algorithm from the experiments with standalone TCU. It was confirmed that shift experimental data for the simulator setup conditions can be used for the analysis of control algorithms on proportional solenoid valves and shift map.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.301-306
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• 2008

Drivers are becoming more fatigued and uncomfortable with increase in traffic density, and this condition can lead to slower reaction time. Consequently, they may face the danger of traffic accidents due to their inability to cope with frequent gear shifting. To reduce this risk, some drivers prefer automatic transmission (AT) over manual transmission (MT). The AT offers more superior drivability and less shifting shock than the MT; therefore, the AT market share has been increasing. The AT is controlled by an electronic control unit (ECU), which provides better shifting performance. The transmission control unit (TCU) is a higher-value-added product, so the companies that have advanced technologies end to evade technology transfer. With more cars gradually using the ECU, the TCU is expected to be faster and more efficient for organic communication and arithmetic processing between the control systems than the l6-bit controller. In this paper, the model of an automatic transmission vehicle using MATLAB/Simulink is developed for the Hardware in-the-Loop (HIL) simulation with a 32-bit embedded system, and also the AT control logic for shifting is developed by using MATLAB/Simulink. The developed AT control logic, transformed automatically by real time workshop toolbox, is loaded to a 32-bit embedded system platform based on Freescale's MPC565. With both vehicle model and 32-bit embedded system platform, we make the HIL simulation system and HIL simulation of AT based on real time operating system (RTOS) is performed. According to the simulation results, the developed HIL simulator will be used for the performance test of embedded system for AT with low cost and effort.

• 인터넷정보학회논문지
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• 제6권5호
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• pp.133-141
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• 2005

본 논문에서는 무선 채널환경에서 워터마크가 삽입된 OFDM/QPSK 영상전송 시스템 시뮬레이터를 구현하였다 성능분석으로써 무선 멀티미디어 서비스를 위해 OFDM/QPSK 영상전송 시스템을 이용하여 가우시안잡음, 다중경로페이딩이 고려된 무선채널 환경에서의 정지영상 이미지와 워터마크로 사용된 정보에 미치는 영향을 분석하였다. 워터마크 정보는 DM-SS 이미지 워터마킹 기법을 적용하였고, 무선 채널에서 영상에 삽입된 워터마킹의 손상을 경감시키기 위해 인터리빙 기법을 도입하였다. 실험 결과, 같은 다중경로페이딩 환경에서 인터리빙을 적용하였을 때 워터마크 이미지의 PSNR이 54,2371dB로 약 1dB정도 개선된 것을 알 수 있었다.

• 드라이브 ㆍ 컨트롤
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• 제15권4호
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• pp.30-38
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• 2018

Electronic control units (ECUs) are currently popular, and have evolved further towards the high-end application of autonomous vehicles in the automotive industry. Such digital technologies have also become widespread, in agriculture and construction equipment. Likewise, transmission control of high-speed tracked vehicles is based on the transmission control unit (TCU), performing complex gear change control functions, and diagnostic algorithms (a TCU's self-diagnostic and reporting capability of malfunction data through CAN communication). Since all functions of TCU are implemented by embedded-software, it is hardly possible to analyze specifications by reverse engineering. In this paper a real-time transmission simulator adaptable to TCU is presented, for analysis of diagnosis algorithm and standards. Signal simulation circuits are deliberately designed considering electrical characteristics of TCU inputs and various analysis tools, such as analog input auto scan function, and global output enable switch, are implemented in software. Test results from hardware-in-the-loop simulator verify tolerance time for each error, as well as cause of fault, error reset conditions.

• 대한임베디드공학회논문지
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• 제4권2호
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• pp.90-96
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• 2009

In the original model-based paradigm in the field of motion planning of robots, robots had to play the focal role of considering all situations under which they made decisions and operate. Such paradigm makes it difficult to respond efficiently to the dynamically shifting environment such as disaster area. In order to handle such a situation that may be changed dynamically, a technology that allows a dynamic execution of data transmission and physical/network connection between multiple robots based on scenarios is required. In this paper, we deal with evolutionary robots that adapt to any given environment and execute scenarios, specially focused on the development of a simulator to test the evolutionary process of cooperated multiple robots.

• 대한임베디드공학회논문지
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• 제15권3호
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• pp.149-157
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• 2020

Regarding previously-developed drone simulators, it was easy to check their flight stability or controlling functions based on the condition that their weight was fixed from the design. However, the drone is largely classified into two types that is the one with the fixed weight whose purpose is recording video with camera and racing and another is whole weight-variable during flight with loading the articles for delivery and spraying pesticide though the weight of airframe is fixed. The purpose of this thesis is to analyze the structure of drone and its flight principle, suggest dynamics-model-based simulator that is capable of simulating weight-variable drone and develop the simulator that can be used for designing main control board, motor and transmission along the application of weight-variable drone. Weight-variable simulator was developed by using various calculation to apply flying method of drone to the simulator. First, ground coordinate system and airframe-fixing coordinate system were established and switching matrix of those two coordinates were made. Then, dynamics model of drone was established using the law of Newton and moment balance principle. Dynamics model was established in Simulink platform and simulation experiment was carried out by changing the weight of drone. In order to evaluate the validity of developed weight-variable simulator, it was compared to the results of clean flight public simulator against existing weight-fixed drone. Lastly, simulation test was performed with the developed weight-variable simulation by changing the weight of drone. It was found out that dynamics model controlled various flying positions of drone well from simulation and the possibility of securing the optimum condition of weight-variable drone that has flying stability and easiness of controlling.

• Steel and Composite Structures
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• 제19권6호
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• pp.1501-1510
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• 2015

The frequency selective surface (FSS) embedded hybrid composite materials have been developed to provide excellent mechanical and specific electromagnetic properties. Radar absorbing structures (RASs) are an example material that provides both radar absorbing properties and structural characteristics. The absorbing efficiency of an RAS can be improved using selected materials having special absorptive properties and structural characteristics and can be in the form of multi-layers or have a certain stacking sequence. However, residual stresses occur in FSS embedded composite structures after co-curing due to a mismatch between the coefficients of thermal expansion of the FSS and the composite material. In this study, to develop an RAS, the thermal residual stresses of FSS embedded composite structures were analyzed using finite element analysis, considering the effect of stacking sequence of composite laminates with square loop (SL) and double square loop (DSL) FSS patterns. The FSS radar absorbing efficiency was measured in the K-band frequency range of 21.6 GHz. Residual stress leads to a change in the deformation of the FSS pattern. Using these results, the effect of transmission characteristics with respect to the deformation on FSS pattern was analyzed using an FSS Simulator.

• 한국위성정보통신학회논문지
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• 제7권3호
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• pp.8-15
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• 2012

Ku 대역 이상의 고주파수 대역을 사용하는 위성통신 시스템의 링크 성능 저하의 가장 큰 요인인 강우 감쇠를 효과적으로 보상할 수 있는 방법으로 적응형 전송 방식을 들 수 있다. 본 논문에서는 국내 Ka 대역 강우 환경에 적합하도록 개발된 동적 강우 감쇠 모델을 탑재하여 구현된 적응형 강우감쇠 보상 시뮬레이터을 제시한다. 본 논문에서 소개된 시뮬레이터에는 초 단위 강우 감쇠 실측 데이터에 대한 통계치를 바탕으로 추출된 강우 파라미터가 적용된 동적 강우 감쇠 Markov chain 모델이 탑재되어 있다. 또한, 여러 가지 전송 기법들을 구비하여 사용자의 요구 사항에 따른 다양한 시뮬레이션이 가능하도록 하였다. 본 논문에서 는 또한 적응형 전송기법을 이용하여 시뮬레이션한 결과를 고정형 전송기법의 결과와 비교함으로써, 적응형 전송 기법의 활용이 효과적으로 강우 감쇠를 보상할 수 있음을 보였다.