• 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.

• 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.

• 한국정보통신학회논문지
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• 제9권6호
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• pp.1402-1406
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• 2005

차량 안정성에 관한연구는 전자제어시스템의 발달과 더불어 급속한 발전을 이룩하였다. 이러한 장치들은 ABS, TCS등이 있고, 현재 활발히 연구되고, 실용화 단계에 있는 VDC이 있다. 그러나 이러한 장치들은 제동력이나 엔진 토크의 감소로 제어되므로 운전자의 의지와는 상관이 없는 차량의 운동이 발생하게 된다. 본 논문에서는 ATC의 동적성능 해석을 수행 하였다.

• 드라이브 ㆍ 컨트롤
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• 제16권2호
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• pp.36-42
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• 2019

The ESP (Electronic Stability Program) is an active control system that controls the posture of the vehicle by sensing the unstable state of the vehicle during braking, driving, or turning. The system works if the vehicle becomes unstable and it is very dangerous to develop it in the actual vehicle. For this reason, many studies have been carried out on the method of developing with simulation such as SIL / EIL. Some advanced companies have already applied it to the product development process. In this study, ESP hydraulic system and braking device model were constructed using SimulationX to build ESP SIL / EIL model. The hydraulic system model was constructed using the actual design parameters and the performance of the hydraulic model was verified by comparing with the actual vehicle test.

• International Journal of Automotive Technology
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• 제8권3호
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• pp.299-308
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• 2007

This study proposes a two-layer hierarchical control system that integrates active front wheel steering and four wheel braking torque control to improve vehicle handling performance and stability. The first layer is a robust model matching controller (R-MMC) based on linear matrix inequalities (LMIs), which optimizes an active front steering angle compensation and a desired yaw moment control, and calculates reference wheel slip for the target wheel according to the desired yaw moment. The second layer is a moving sliding mode controller (MSMC) that can track the reference wheel slip in a predetermined time by commanding proper braking torque on the target wheel to achieve the desired yaw moment. Since vehicle sideslip angle measurement is difficult to achieve in practice, a sliding mode observer (SMO) that requires only vehicle yaw rate as the measured input is also developed in this study. The performance and robustness of the SMO and the integrated control system are demonstrated through comprehensive computer simulations. Simulation results reveal the satisfactory tracking ability of the SMO, and the superior improved vehicle handling performance, stability and robustness of the integrated control vehicle.

• 한국산학기술학회논문지
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• 제13권2호
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• pp.760-771
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• 2012

본 연구는 전동차를 운전 시, 영구 자석형 동기전동기(PMSM)가 제동할 때 발생한 회생전력은 모두 활용하며, 전기제동에 대하여도 발생한 회생전력을 모두 흡수할 수 있는 능력을 가진 축소모형 전동기 시스템으로 운전함을 가정한다. 축소모형 전동기의 견인시스템은 각 전동기는 영구 자석형 동기전동기(PMSM)를 개별로 제어하는 1C1M방식으로 구축 하였다. 전동차의 승차감 향상 및 에너지의 효율적 이용 등을 위한 방법으로써 벡터제어 방법을 적용하여 관성부하에 대한 시뮬레이션과 축소모형으로 실험을 하여 좋은 결과를 얻었다. 또한, 영구 자석형 동기전동기(PMSM)의 제동력 확보에 의한 회생제동 제어 확보와 전기제동으로 정지하는 극 저속에서의 속도검출과 전동기를 제어하는 방법의 알고리즘에 대하여 연구 하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.228-230
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• 2006

While trains perform a complete precision stopping control at stop point, it is essential to keep better commuters comfort in prompt. Because a train's brake force tends to increase a brake effort in a low speed and a low brake effort, a brake force in motor cars must be increased to keep better passenger comfort, to control the special braking qua1ities and to prevent the impact of the automatic coupler rather than trailer's, Rail cars must have a special braking process for the train stopping control. In the train stop mode, the train stopping control is designed to start at 20km/h. It starts by Dynamic brake blending, and then finally stops by only the friction. If these process are not exactly activated, the train may fail a complete precision stop. In this report, it studied the electric and friction brake processing during the precious stopping control. To achieve exact test results, the speed reference has to be reduced the calculated difference. In the precision stopping control. the ways of the keeping brake force in motor car was analyzed and some solutions of controling air pressure was brought up by means of direct test in main line, This study was based on line 5 in Seoul Metropolitan subway.

• 한국항해항만학회지
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• 제28권3호
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• pp.227-232
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• 2004

차량동역학제어시스템은 복잡하고 비선형이므로 잠금방지 제동시스템 및 자동주행시스템 개발에 어려움이 있다. 차량절대속도를 추정하기 위해 퍼지 로직 기법이 최근 적용되어 정상적인 조건에서 만족할 만한 결과를 얻고 있다. 그러나 급격한 제동시 추정오차가 크게 발생되었다. 본 논문에서는 휠 속도 센서를 이용하여 무인 컨테이너 운송차량의 절대속도를 추정하기 위해, 뉴럴 네트워크 모델의 방사대칭 기저함수와 주성분 분석법을 적용하여 10개의 추정 알고리즘중 오차를 4％ 이내로 추정할 수 있는 알고리즘을 제시하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.585-588
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• 1997

This paper presents a construction method of logic-based switching control system which operates in widely changing environments. The logic-based switching controller is composed of a family of candidate controllers together with a supervisor. The system does not require any identification schemes of environments. Switching from one candidate controller to another is carried out based on monitoring the output of the system. The basic ideas of adaptation are as follows: (1)each candidate controller is prepared for each environment in advance; (2)the supervisor applies a sequence of speculative controls to a plant with candidate controllers just after the control has started and just after the change of the environment has been detected. It is important that each candidate controller can keep the system stable during a sequence of speculative controls, and the most appropriate candidate controller for the environment to which the system is exposed can be selected before the last speculative control is ended. An application to an antiskid braking system clarifies the effectiveness of the proposed method.

• 동력기계공학회지
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• 제16권1호
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• pp.91-97
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• 2012

It is being accelerated to develop environment-friendly vehicles to solve problems on the energy and environment of earth. The electric driving motor commonly installed in these vehicles has the excellent control capability such as fast response and accurate generation to torque control command. Especially, in-wheel motor has the additional merit such as independently driving each wheel in vehicle. Recently, being developed various control algorithm to enhance the safety and stability of vehicle motion using actively the merits of in-wheel motor. In addition to that, being issued the possibility of enhancing the ride comfort and attitude of vehicle motion such as pitching and rolling. In this paper, investigate the theoretical relationship between the braking/driving force and the motion of sprung mass of vehicle and propose the control method to enhance the ride comfort and attitude of vehicle motion. The proposed control method is proved through the simulation with vehicle model provided by TruckSim software which is commercial one and specializes in vehicle dynamics.