• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.112-112
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• 2001

An Anti-lock Brake System ABS is developed to increase the stability of vehicle and to reduce the stopping distance when braking manoeuvres by measuring the wheel and vehicle speed. An ABS mathematical model which describes the dynamics of vehicle and calculate the stopping distance, is explained in this paper. To proceed this study, a mathematical model is produced with simulink software package. Although the model considered here is relatively simple, it retains the essential dynamics of the system. The results are evaluated at the various driving or road conditions. The results from mathematical model show that ABS reduces the stopping distance at the various road conditions. This mathematical model could be ...

• 한국정밀공학회지
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• 제19권11호
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• pp.65-74
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• 2002

This paper examines the usefulness of a Brake Steer System (BSS), which uses differential brake forces for steering intervention in the context of Intelligent Transportation Systems (ITS). In order to help the car to turn, a yaw moment can be achieved by altering the left/right and front/rear brake distribution. This resulting yaw moment on the vehicle affects lateral position thereby providing a limited steering function. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. A 8-DOF nonlinear vehicle model including STI tire model will be validated using the equations of motion of the vehicle. Then a controller will be developed. This controller, which will be a PID controller tuned by Ziegler-Nichols, will be designed to explore BSS feasibility by modifying the brake distribution through the control of the yaw rate of the vehicle.

• 한국기계가공학회지
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• 제17권4호
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• pp.70-75
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• 2018

This paper describes an Integrate Dynamic Control system with Brake System (IDCB) for SUV vehicles. The system was developed to stabilize the lateral dynamics, maintain the steerability and improve the ride comfort on various roads. A fuzzy logic control method is used to design the IDCB. The performance of the IDCB is validated under different road and driving conditions. The results show that the IDCB tracks the reference yaw rate under all tested conditions; in addition, it reduces the body slip angle and roll angle. When a vehicle runs on a split-${\mu}$ road and a brake input is applied, the IDCB virtually eliminates the lateral dynamics. Thus, the IDCB improves the lateral stability, preserves the steerability and enhances the ride comfort of vehicles.

• 유공압시스템학회논문집
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• 제4권1호
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• pp.13-17
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• 2007

The brake gain adaptive wheel slip controller for a vehicle is designed in this paper. The brake gain from braking pressure to braking torque defined by friction coefficient, friction area and effective friction radius is estimated by the adaptive law based on the wheel slip dynamics. And the wheel slip controller is designed based on the estimated brake gain. The robustness of the designed controller is analyzed using Lyapunov function and the convergence of brake gain is verified. Proposed wheel slip controller is verified via CarSim simulation with two kinds of desired wheel slip ratio.

• 로봇학회논문지
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• 제19권1호
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• pp.8-15
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• 2024

This paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that H_∞ optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

• 한국항공우주학회지
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• 제37권4호
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• pp.350-358
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• 2009

본 논문은 재진입 비행체의 TAEM 구간 유도와 제어에 관하여 기술 하였다. TAEM 구간은 공기의 밀도와 비행체의 속도의 범위가 큰 특징을 가지고 있으며, 이들 조건하에 TAEM 구간의 유도를 위한 궤적과 비행체의 상태값을 최적화하였다. 최적화된 상태값은 7가지의 상태이며, 상태값은 Down-range, Cross-range, 비행체의 고도, 속도, 경로각, 방위각, 그리고 비행 거리이다. 최적화 연산을 수행하기 위하여 DIDO 프로그램을 사용하였다. 재진입 비행체의 제어를 위하여 인공 신경망을 이용한 되먹임 선형화 제어법을 사용하였다. 비행체의 동역학 모델은 역전파 모델을 통하여 근사화 되고, 근사화된 동역학 모델과 지연된 제어 입력, 플랜트 출력으로부터 새로운 제어 입력을 생성하게 된다. 이를 이용하여 본 논문에서는 앞서 최적화된 7가지의 상태값을 추종하는 결과를 보였다.

• Advances in aircraft and spacecraft science
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• 제7권1호
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• pp.1-17
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• 2020

In this paper, a new model-based Fault Detection and Diagnosis (FDD) method for an agile supersonic flight vehicle is presented. A nonlinear model, controlled by a classical closed loop controller and proportional navigation guidance in interception scenario, describes the behavior of the vehicle. The proposed FDD method employs the Inertial Navigation System (INS) data and nonlinear dynamic model of the vehicle to inform fins damage to the controller before leading to an undesired performance or mission failure. Broken, burnt, unactuated or not opened control surfaces cause a drastic change in aerodynamic coefficients and consequently in the dynamic model. Therefore, in addition to the changes in the control forces and moments, system dynamics will change too, leading to the failure detection process being encountered with difficulty. To this purpose, an equivalent aerodynamic model is proposed to express the dynamics of the vehicle, and the health of each fin is monitored by the value of a parameter which is estimated using an adaptive robust filter. The proposed method detects and isolates fins damages in a few seconds with good accuracy.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 추계학술대회
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• pp.668-669
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• 2016

상용차에 장착된 리타더(retarder)는 상용 브레이크를 보조하는 유압식 브레이크 시스템으로써 운전자의 자동모드 및 수동모드 선택에 의해 작동된다. 리타더 작동에 의해 발생된 열은 리타더 오일에 전달되며 리타더의 냉각기와 차량의 냉각시스템에 의해 열교환이 일어난다. 이때 리타더의 ECU는 자동모드와 수동모드, 리타더 오일/냉각수 온도, 엔진 냉각수 온도, 차량속도 등을 고려하여 제동토크를 조정하는 기능을 수행한다. 본 논문에서는 냉각 시스템 관련 리타더 제어로직 설계와 리타더 제동성능에 따른 시험결과를 제시하고자 한다.

• International Journal of Automotive Technology
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• 제6권3호
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• pp.243-249
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• 2005

To improve the ride comfort and handling characteristics of a vehicle, an active suspension which is controlled by external actuators can be used. An active suspension can control the vertical acceleration of a vehicle and the tire deflection to achieve the desired suspension goal. For this purpose, Model Predictive Control (MPC) scheme is applied with the assumption that the preview information of the oncoming road disturbance is available. The predictive control approach uses the output prediction to forecast the output over a time horizon and determines the future control over the horizon by minimizing the performance index. The developed method is applied to a half car model of four degrees-of-freedom and numerical simulations show that the MPC controller improves noticeably the ride qualities and handling performance of a vehicle.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2561-2563
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• 2000

In this paper, a mathematical vehicle model, the braking force control parameters, the wheel control logic, and vehicle control strategy are presented, in order to analyze the dynamic characteristics of a vehicle equipped with ABS(Antilock Brake System). The full vehicle dynamics model is constructed with sprung mass, brake system, and wheels to verify control algorithms. The valve control algorithms are designed with the wheel accelerations and slip ratio take into consideration. Theses algorithms are applied to the front and rear wheels independently. Simulation is performed under the wet road condition at initial braking speed of 60 [km/h].