• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.4
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• pp.1-9
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• 2012

The NCF control algorithm for an active suspension system was proposed and investigated. The NCF algorithm using spring dynamic variation force and suspension relative velocity was applied to the 1/4 vehicle model and numerical analysis was performed. Vehicle's performances such as vehicle displacement, vehicle acceleration, suspension deflection, tire deflection and absorbed power were calculated and compared with those of the passive, semi-active and LQR active suspension system that use full state feedback. Numerical results show that the proposed NCF active suspension system has superior performance compared with the passive and semi-active suspension system and has very similar performance compared with the LQR active suspension system. So the proposed NCF algorithm is considered as a highly practical algorithm because it requires only one displacement sensor in a 1/4 vehicle model.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.5
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• pp.105-114
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• 2001

In this study, a shift control algorithm far improving the shift quality of a parallel hybrid drivetrain with an automated manual transmission (AM) is proposed. The general AMT requires the sophisticated control of clutch in the clutch engagement to improve its shift characteristics, and that is generally known to be difficult. But in this hybrid drivetrain, we can control the speeds of clutch plates by engine and motor control, and it provides the easier clutch control in shift process than general AMT. Additionally, it permits the much-reduced shift shock. The motor control during the shift period is also to achieve reduced velocity drop of the vehicle in comparison with that of a general AMT. Furthermore various dynamometer-based experiments are carried out to prove the validity of the proposed shift control algorithm.

• Journal of Drive and Control
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• v.15 no.3
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• pp.8-13
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• 2018

This paper presents a phase portrait analysis-based safety control algorithm for excavators, using adaptive sliding mode control. Since working postures and material types cause the excavator's rotational inertia to vary, the rotational inertia was estimated, and this estimation was used to design an adaptive sliding mode controller for collision avoidance of the excavator. In order to estimate the rotational inertia, the recursive least-squares estimation with multiple forgetting was applied with the information of the swing velocity of the excavator. For realistic evaluation, an actual working scenario-based performance evaluation was conducted. Based on the estimated rotational inertia and an analysis of estimation errors, sliding mode control inputs were computed. The actual working scenario-based performance evaluation of the designed safety algorithm was conducted, and the results showed that the developed safety control algorithm can efficiently avoid a collision with an object in consideration of rotational inertia variations.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.635-641
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• 2008

In this paper, we used a laser range finder (LRF) to detect both the static and dynamic obstacles for the safe navigation of a mobile robot. LRF sensor measurements containing the information of obstacle's geometry are first processed to extract the characteristic points of the obstacle in the sensor field of view. Then the dynamic states of the characteristic points are approximated using kinematic model, which are tracked by associating the measurements with Probability Data Association Filter. Finally, the collision avoidance algorithm is developed by using fuzzy decision making algorithm depending on the states of the obstacles tracked by the proposed obstacle tracking algorithm. The performance of the proposed algorithm is evaluated through experiments with the experimental mobile robot.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.6
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• pp.871-878
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• 1990

The control method which electrically subdivides 1 step(1.8\ulcornerstep) of a PM step motor into 64 micro-step (0.028\ulcornerstep) is realized using micro-step algorithm on the basis of the look up table method and the position and velocity control using Z-80 microprocessor is also realized. With micro-stepping. The resolution of the system is improved, also by micro-step control of driving-current of the step motro, which is followed by the increase of micro-step subdivision-coefficient, the precise position and velocity control of step-motor can be realized and the stabilization of the system is improved.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.121-126
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• 2000

This research proposes a new advanced control method and demonstrates its realization in part. By incorporating shape machining and cutting force control at a time, this integrated scheme makes it possible to machine a desired shape and avoid the trouble of programming feedrate and spindle speed before machining and also reduce the shape error. The main idea proposed to achieve those goals consists in giving commanded path and desired cutting force at the same time. which makes it possible for position and force controller to distribute the corresponding velocity of individual axes and main spindle by an appropriate interpolation. That indicates we can replace the built-in interpolator of commercial machine tools by the developed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.114-114
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• 2000

In this paper a self-tuning modified skyhook control for the semi-active suspension systems is investigated. The damping force generation mechanism is modeled We consider a 2 DOF time-varying quarter car model that permits parameter variations of the sprung mass and suspension spring coefficient. The modified skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters, according to parameter variations. The skyhook gains are designed in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype will be discussed

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.8 s.251
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• pp.880-888
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• 2006

This paper presents the sliding mode control with the perturbation estimator for a nonlinear control system in the presence of perturbations including external disturbances, unpredictable parameter variations, ana unstructured dynamics. The proposed perturbation estimator is based on the Recursive Linear Smoothed Newton predictive algorithm so that it is effective to attenuate an undesired noise in high frequency band and to predict the present perturbation signal from the previous ones. Compared to conventional sliding mode control (SMC) and sliding mode control with perturbation estimation (SMCPE) introduced by Elmali and Olgac, the control algorithm proposed in this study can offer better tracking control performances and more feasible estimation characteristics. The effectiveness and superiority of the proposed control strategy are demonstrated by a series of simulations on the position tracking control of a simple two-link robot manipulator subject to velocity feedback signals including white noises.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.488-493
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• 2005

In gun stabilization systems, the torque comes from the unbalance mass of gun and the base acceleration is an important source of disturbance which degrades stabilization performance. Fatigue of gear train is another important factor affecting structural safety problems. In this paper, a feedback control gain is designed by optimal control weighting to difference between motor and gun velocity, and a feedforward controller using FXLMS algorithm is adopted to investigate those problems. Experimental results show that the feedforward compensator based on FXLMS can reduce the disturbance effects. The directional convergence property according to initial conditions of the FXLMS is also shown through experiments.

• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.310-318
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• 2004

In this paper, an unscented Kalman filter (UKF) for curvilinear motions in an interacting multiple model (IMM) algorithm to track a maneuvering vehicle on a road is investigated. Driving patterns of vehicles on a road are modeled as stochastic hybrid systems. In order to track the maneuvering vehicles, two kinematic models are derived: A constant velocity model for linear motions and a constant-speed turn model for curvilinear motions. For the constant-speed turn model, an UKF is used because of the drawbacks of the extended Kalman filter in nonlinear systems. The suggested algorithm reduces the root mean squares error for linear motions and rapidly detects possible turning motions.