• International Journal of Automotive Technology
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• v.6 no.4
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• pp.359-365
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• 2005

The absolute longitudinal speed of a vehicle is estimated by using data from an accelerometer of the vehicle and wheel speed sensors of a standard 50-tooth antilock braking system. An intuitive solution to this problem is, 'When wheel slip is low, calculate the vehicle velocity from the wheel speeds; when wheel slip is high, calculate the vehicle speed by integrating signal of the accelerometer.' The speed estimator weighted with fuzzy logic is introduced to implement the above concept, which is formulated as an estimation method. And the method is improved through experiments by how to calculate speed from acceleration signal and slip ratios. It is verified experimentally to usefulness of estimation speed of a vehicle. And the experimental result shows that the estimated vehicle longitudinal speed has only a $6\%$ worst-case error during a hard braking maneuver lasting a few seconds.

• Journal of Mechanical Science and Technology
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• v.19 no.4
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• pp.985-992
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• 2005

Vehicle Stability Control (VSC) system prevents vehicle from spinning or drifting out mainly by braking intervention. Although a control threshold of conventional VSC is designed by vehicle characteristics and centered on average drivers, it can be a redundancy to expert drivers in critical driving conditions. In this study, a manual adaptation of VSC is investigated by changing the control threshold. A control threshold can be determined by phase plane analysis of side slip angle and angular velocity which is established with various vehicle speeds and steering angles. Since vehicle side slip angle is impossible to be obtained by commercially available sensors, a side slip angle is designed and evaluated with test results. By using the estimated value, phase plane analysis is applied to determine control threshold. To evaluate an effect of control threshold, we applied a 23-DOF vehicle nonlinear model with a vehicle planar motion model based sliding controller. Controller gains are tuned as the control threshold changed. A VSC with various control thresholds makes VSC more flexible with respect to individual driver characteristics.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.295-304
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• 2000

In the teleoperation system, force and velocity signals are communicated between a master and a slave robot. The addition of force feedback to a teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The control scheme proposed in this paper is based on the estimator with virtual master model. Delayed signal from the master robot can be replaced by the estimated signal with the virtual master model. This control scheme makes the teleoperation system stable for the given time delay while the conventional scheme is not. This new control scheme is verified through numerical simulations and an experiments using the dual axis testbed of the teleoperation system.

• Journal of electromagnetic engineering and science
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• v.15 no.1
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• pp.37-43
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• 2015

We implemented a real-time radar system for an unmanned ground vehicle designed to run on unpaved or bumpy roads. The system must be able to detect slow targets in a cluttered environment and cover wide angular sections with high resolution at the same time. The system consists of array antennas, preprocessors for digital beam forming, and digital signal processors for the detection process which uses sawtooth waveforms and high-resolution estimation, and is called forward/backward spatial smoothing beamspace multiple signal classification (FBSS BS-MUSIC). We show that the sawtooth waveforms enhance the angular estimation capability of FBSS BS-MUSIC in addition to their well-known advantages of removing the ambiguity of targets and detecting slow targets with improved velocity resolution.

• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.2 s.21
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• pp.38-48
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• 2005

Instantaneous frequency of doppler signals is used to get the information of the relative velocity and the miss distance between a missile and a corresponding target. In this paper, we have performed time-frequency analysis and instantaneous frequency estimation with Short Time Fourier Transform(STFT), Wigner Ville Distribution(WVD) and Continuous Wavelet Transform(CWT) about the doppler signals generated by moving targets. Performance evaluation was performed using simulated doppler signals generated by a single moving target and two moving targets. From the results of the time-frequency analysis, we found that WVD method was the most efficient instantaneous frequency estimator among the three methods. But in case of two moving targets, WVD method got cross talks and CWT method got oscillation when two doppler frequencies were close to each other.

• International Journal of Automotive Technology
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• v.6 no.5
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• pp.475-481
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• 2005

This paper deals with the algorithm of estimating the longitudinal speed of a braking vehicle using measurements from an accelerometer and a standard wheel speed sensor. We evolve speed estimation algorithms of increasing complexity and accuracy on the basis of experimental tests. A final speed estimation algorithm based on a Kalman filtering is developed to reduce measurement noise of the wheel speed sensor, error of the tire radius, and accelerometer bias. This developed algorithm can give peak errors of less than 3 percent even when the accelerometer signal is significantly biased.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.4
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• pp.838-842
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• 2011

This paper proposes an online adaptive neuro-controller for a wind energy conversion system (WECS) that is a highly nonlinear system intrinsically. In real application, to obtain exact system parameters such as power coefficient, many measuring instruments and implementations are required, which is very difficult to perform. This shortcoming can be avoided by introducing neural network in the controller design in this paper. The proposed adaptive neural control scheme using radial-basis function network (RBFN) needs no system parameters to meet control objectives. Combining derivative estimator for wind velocity, the whole closed-loop system is shown to be stable in the sense of Lyapunov.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.2A
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• pp.51-60
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• 2005

In this paper, we propose an enhanced SIR measurement algorithm for WCDMA mobile station modem. The proposed algorithm minimizes processing delay by applying velocity estimation-based channel estimator with IIR filter and reduces measured SIR offset by compensating attenuated signal power by using pilot channel(CPICH) in fading channel environment. To improve stability of SIR measurement, we also adopt an IIR filter which can properly reflect variation of fading channel in signal and interference power measurement. We prove that the proposed algorithm outperforms conventional SIR measurement algorithm in mean and jitter of measured SIR. Computer simulation shows that performance results using the proposed algorithm have improvement of approximately 8dB for measured mean and 2dB for measured jitter in the wireless mobile channel, especially in fast mobile speed environment.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.405-413
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• 2006

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it an other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.

• Journal of Navigation and Port Research
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• v.31 no.1 s.117
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• pp.55-64
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• 2007

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.