• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.10
• /
• pp.967-974
• /
• 2017

In this paper, a differential-braking-based yaw moment control system was developed to guarantee robust performance against road bank angle. A new target yaw rate model was established by combining the signal from a lateral acceleration sensor and 2-DOF single track model. In addition, a disturbance observer was utilized to take into account parameter uncertainties in yaw dynamics and to improve robust performance of the controller. CARSIM, which is a multi-DOF vehicle dynamic simulation tool, was used to verify the performance of the proposed controller in various driving scenarios. The simulation results indicate that the stability of the vehicle was robustly maintained by the controller, which is characterized by the reflection of the signal of a lateral acceleration sensor signal and by the compensation of the errors in the model parameters via the disturbance observer.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.10 no.4
• /
• pp.469-475
• /
• 2015

This paper describes about the method for designing an extended Kalman filter to accurately measure the position of the spatial-phase system using a semiconductor sensor. Spatial position is expressed by the correlation of the rotated coordinate system attached to the body from the inertia coordinate system (a fixed coordinate system). To express the attitude, quaternion was adapted as a state variable, Then, the state changes were estimated from the input value which was measured in the gyro sensor. The observed data is the value obtained from the acceleration sensor. By matching between the measured value in the acceleration sensor and the predicted calculation value, the best variable was obtained. To increase the accuracy of estimation, designation of the extended Kalman filter was performed, which showed excellent ability to adjust the estimation period relative to the sensor property. As a result, when a three-axis gyro sensor and a three-axis acceleration sensor were adapted in the estimator, the RMS(Root Mean Square) estimation error in simulation was retained less than 1.7[$^{\circ}$], and the estimator displayed good property on the prediction of the state in 100 ms measurement period.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.4 s.175
• /
• pp.926-936
• /
• 2000

Actual and strict definition of the shift quality for the powertrain system equipped an automatic transmission must be understood through the acceleration change of the vehicle body, which the driver directly feels as a shift shock. For this reason, it is necessary to concurrently analyze the characteristics of the powertrain system and the vehicle body. This paper presents the mathematical model of the vehicle body, which is based on the equivalent lumped system, to append to the developed model of the powertrain system. The concept of tire slip is also introduced for the experimental relationship between tire/road and driving force. Using the developed dynamic simulation programs, shift transients characteristics are analyzed. Theoretical results are compared with experimental ones from real car tests in equal conditions in order to prove the validity of presented model. In these tests, the system to measure the vehicle acceleration is used with various speeds and engine throttle sensors. It is expected that the presented modeling techniques can provide good predictions of the vehicle driving comfortability.

• International Journal of Automotive Technology
• /
• v.4 no.4
• /
• pp.181-191
• /
• 2003

Since the nonlinearity and uncertainties which inherently exist in vehicle system need to be considered in active suspension control law design, this paper proposes a new control strategy for active vehicle suspension systems by using a combined control scheme, i.e., respectively using a genetic algorithm (GA) based self-tuning PID controller and a fuzzy logic controller in two loops. In the control scheme, the PID controller is used to minimize vehicle body vertical acceleration, the fuzzy logic controller is to minimize pitch acceleration and meanwhile to attenuate vehicle body vertical acceleration further by tuning weighting factors. In order to improve the adaptability to the changes of plant parameters, based on the defined objectives, a genetic algorithm is introduced to tune the parameters of PID controller, the scaling factors, the gain values and the membership functions of fuzzy logic controller on-line. Taking a four degree-of-freedom nonlinear vehicle model as example, the proposed control scheme is applied and the simulations are carried out in different road disturbance input conditions. Simulation results show that the present control scheme is very effective in reducing peak values of vehicle body accelerations, especially within the most sensitive frequency range of human response, and in attenuating the excessive dynamic tire load to enhance road holding performance. The stability and adaptability are also showed even when the system is subject to severe road conditions, such as a pothole, an obstacle or a step input. Compared with conventional passive suspensions and the active vehicle suspension systems by using, e.g., linear fuzzy logic control, the combined PID and fuzzy control without parameters self-tuning, the new proposed control system with GA-based self-learning ability can improve vehicle ride comfort performance significantly and offer better system robustness.

• Journal of Advanced Navigation Technology
• /
• v.4 no.2
• /
• pp.162-170
• /
• 2000

Maneuvering targets are difficult for the Kalman filter to track since the target model of tracking filter might not fit the real target trajectory and the statistical characteristics of the target maneuver are unknown in advance. In order to track such a wildly maneuvering target, several schemes had been proposed and improved the tracking performance in some extent. In this paper a Kalman filter-based scheme is proposed for maneuvering target tracking. The proposed scheme estimates the target acceleration input vector directly from the feature of maneuvering target trajectories and updates the simple Kalman tracker by use of the acceleration estimates. Simulation results for various target profiles are analyzed for a comparison of the performances of our proposed scheme with that of conventional trackers.

• Journal of Advanced Navigation Technology
• /
• v.21 no.6
• /
• pp.601-607
• /
• 2017

This study performed fault test on global positoining system (GPS) carrier phase measurements, which is a preprocessing step to generate the positioning correction information based on the global navigation satellite system (GNSS) infrastructure. The existing carrier acceleration ramp step test (CARST) method affects the test result by using the mean value to eliminate the receiver clock error. In this regard, this study applied differencing and compared its results with those of the existing CARST. The fault simulation that applied artificial faults to the actual data found that the fault could be detected independently on each satellite when difference method was applied, and the single difference CARST and the double difference CARST produced similar results. The comparison with the existing method using actual data demonstrated the strengths and weaknesses of satellite and station single difference. Nevertheless, it is our understanding that it would require an additional analysis to determine whether the results were affected by the satellite or receiver clock error.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.51 no.9
• /
• pp.208-214
• /
• 2014

Vehicle dynamic states used in various advanced driving safety systems are influenced by road geometry. Among the road geometry information, the vehicle pitch angle influenced by road slope and acceleration-deceleration is essential parameter used in pose estimation including the navigation system, advanced adaptive cruise control and others on sag road. Although the road slope data is essential parameter, the method measuring the parameter is not commercialized. The digital map including the road geometry data and high-precision DGPS system such as DGPS(Differential Global Positioning System) based RTK(Real-Time Kinematics) are used unusually. In this paper, low-cost cascade extended Kalman filter(CEKF) based road slope estimation method is proposed. It use cascade two EKFs. The EKFs use several measured vehicle states such as yaw rate, longitudinal acceleration, lateral acceleration and wheel speed of the rear tires and 3 D.O.F(Degree Of Freedom) vehicle dynamics model. The performance of proposed estimation algorithm is evaluated by simulation based on Carsim dynamics tool and T-car based experiment.

• Earthquakes and Structures
• /
• v.15 no.2
• /
• pp.179-191
• /
• 2018

This study is aimed at investigating the dynamic performance of a composite building structure under seismic ground motions. The building structure is an official fire department building located in southern Taiwan. It is composed of a seven-story reinforced concrete (RC) and an eight-story steel reinforced concrete (SRC) frame. Both frames share a common basement and are separated by expansion joints from the first to the seventh floor. Recorded floor accelerations of the building structure under eight earthquakes occurring during the period from 2011 to 2013 were examined in this paper. It is found that both frames had similar floor acceleration amplifications in the longitudinal direction, while the SRC frame revealed larger response than the RC frame in the transverse direction. Almost invariant and similar fundamental periods under the eight earthquakes in both directions were obtained from their transfer functions. Furthermore, numerical time-history simulations were carried out for the building structure under the most intensive earthquake. It is realized that the seismic response of the composite building was dominated by the first translational mode in each horizontal direction. Higher modes did not significantly contribute to the structural response. The conventional Rayleigh damping model could be appropriately applied to the time-history simulations under bi-directional excitations. Approximate floor acceleration envelopes were obtained with a compound RC and SRC structural model by using the average damping ratios determined from the different structural arrays.

• Journal of Electrical Engineering and Technology
• /
• v.9 no.1
• /
• pp.15-26
• /
• 2014

This paper proposes a Modified Particle Swarm Optimization with Time Varying Acceleration Coefficients (MPSO-TVAC) for solving economic load dispatch (ELD) problem. Due to prohibited operating zones (POZ) and ramp rate limits of the practical generators, the ELD problems become nonlinear and nonconvex optimization problem. Furthermore, the ELD problem may be more complicated if transmission losses are considered. Particle swarm optimization (PSO) is one of the famous heuristic methods for solving nonconvex problems. However, this method may suffer to trap at local minima especially for multimodal problem. To improve the solution quality and robustness of PSO algorithm, a new best neighbour particle called 'rbest' is proposed. The rbest provides extra information for each particle that is randomly selected from other best particles in order to diversify the movement of particle and avoid premature convergence. The effectiveness of MPSO-TVAC algorithm is tested on different power systems with POZ, ramp-rate limits and transmission loss constraints. To validate the performances of the proposed algorithm, comparative studies have been carried out in terms of convergence characteristic, solution quality, computation time and robustness. Simulation results found that the proposed MPSO-TVAC algorithm has good solution quality and more robust than other methods reported in previous work.

• The Journal of the Acoustical Society of Korea
• /
• v.34 no.1
• /
• pp.66-74
• /
• 2015

Conventional hydrophones can only measure acoustic pressure. To measure both acoustic pressure and incident direction, various types of vector hydrophones have been researched. In this paper, we deal with a ring-type multimode vector hydrophone divided into 4 elements and present a direction-of-arrival (DoA) estimation method based on the pressure gradient-acceleration relationship. The performance of the presented method is analyzed by the simulation based on the sensor modeling and is verified by the water tank experiment. The proposed method could work under the multi-frequency condition and may be utilized in many applications due to its low computation complexity.