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Hardware-in-the Loop Simulation 을 통한 차간거리 제어시스템의 제어 성능 연구
이경수,이찬규,Yi, Kyong-Su,Lee, Chan-Kyu 대한기계학회 2002 大韓機械學會論文集A Vol.26 No.7
This paper represents an investigation of the vehicle-to-vehicle distance control system using Hardware-in-the-Loop Simulation(HiLS). Control logic is primarily developed and tested with a specially equipped test vehicle. Establishment of an efficient and low cost development tool is a very important issue, and test vehicle approach is costly and time consuming. HiLS method is useful in the investigation of driver assistance and active safety systems. The HiLS system consists of a stepper motor for throttle control, a hydraulic brake system with an electronic vacuum booster, an electronic controller unit, a data logging computer which are used to save vehicle states and signals of actuator through a CAN and a simulation computer using mathematical vehicle model. Adaptation of a CAN instead of RS-232 Serial Interface for communication is a trend in the automotive industry. Since this environment is the same as a test vehicle, a control logic verified in laboratory can be easily transferred to a test vehicle.
이경수(Kyong-Su Yi),이준영(Jun-Yung Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.3
This paper describes control applications in automobiles. Many aspects of automotive applications of advanced control methods, which include suspension systems, stability control systems, engines, hybrid vehicle control systems, electric vehicle controls systems, advanced driver assistance systems and automated driving control systems, are reviewed. The control methods used in each area are briefly reviewed to help readers understand the applicability and effectiveness of these methods. In addition, some new trends in the research of automotive applications are described.
고효율 저가형 결정질 태양전지의 양산화를 위한 shallow emitter 적용 공정의 최적화
이경수(Lee Kyong-Su),한창순(Han Chang-Soon),한석규(Han Seok-Kyu),주민규(Ju Min-Kyu),김병국(Kim Byung-Kuk),조영미(Jo Young-Mi),이준신(Yi Jun-Sin) 한국태양에너지학회 2010 한국태양에너지학회 학술대회논문집 Vol.2010 No.11
In manufacturing the solar cell with high efficiency crystalline structure, forming the emitter layer by phosphorous doping is one of the critical factors to determine the efficiency of solar cell. Forming the layer of emitter doped with a lower impurity concentration makes the spectral response improvement in the short wavelength region and increases the amount of short circuit current. However shallow emitter requires various material and process optimizations such as the contact resistance reduction, junction leakage prevention and metal contact firing profile. This paper reports our efforts directed to minimize the contact resistance by optimizing emitter uniformity, front Ag metal contact on a shallow emitter layer for the high efficiency solar cells. Using Cz p-type Si wafer with 125㎜ by 125㎜ area, we fabricated shallow emitter with the sheet resistance of 60-100ohm/square by changing temperature and gas ratio of N2,O2, POCl3 in batch type furnace. We varied the belt speed of metal firing furnace and the number of screen printed metal fingers. The contact resistance was measured by using contact resistance mapping instrument. We observed that the amount of current density was improved more than 1mA/cm2 in comparison to the reference cells with sheet resistance of 40-60ohm/square.
슬라이딩 모드 관측기를 이용한 기구학 모델 기반 자율주행 자동차의 예견 고장진단 알고리즘
오광석(Kwang Seok Oh),이경수(Kyong Su Yi) 대한기계학회 2017 大韓機械學會論文集A Vol.41 No.10
본 논문은 슬라이딩 모드 관측기를 이용한 기구학 모델 기반 자율주행 자동차의 예견 고장진단 알고리즘에 관한 연구이다. 자율주행 자동차는 안전한 주행을 위해 신뢰성이 확보된 주행환경 정보와 차량의 동적상태 정보가 필요하다. 센서 정보의 신뢰성 판단을 위해 본 연구에서는 종방향 기구학 모델기반 슬라이딩모드 관측기를 이용하여 종방향 환경정보와 차량 가속도 정보를 실시간으로 상호 보완적 고장진단이 가능한 예견 알고리즘을 제안하였다. 적용된 슬라이딩 모드 관측기는 종방향 환경정보의 고장신호에도 강건한 입력신호 재건성능을 보이면서 알고리즘의 신뢰성을 확보할 수 있었다. 예견 고장진단 알고리즘의 합리적 성능평가를 위해 네 가지 조건에 대한 실제 주행 데이터 기반 선행차량 추종시나리오를 적용하였다. 성능평가 결과 본 연구에서 제안된 예견 고장진단 알고리즘은 모든 평가조건과 주행 시나리오에 대해 합리적인 고장진단 성능을 보여주었다. This paper describes a predictive fault diagnosis algorithm for autonomous vehicles based on a kinematic model that uses a sliding mode observer. To ensure the safety of autonomous vehicles, reliable information about the environment and vehicle dynamic states is required. A predictive algorithm that can interactively diagnose longitudinal environment and vehicle acceleration information is proposed in this paper to evaluate the reliability of sensors. To design the diagnosis algorithm, a longitudinal kinematic model is used based on a sliding mode observer. The reliability of the fault diagnosis algorithm can be ensured because the sliding mode observer utilized can reconstruct the relative acceleration despite faulty signals in the longitudinal environment information. Actual data based performance evaluations are conducted with various fault conditions for a reasonable performance evaluation of the predictive fault diagnosis algorithm presented in this paper. The evaluation results show that the proposed diagnosis algorithm can reasonably diagnose the faults in the longitudinal environment and acceleration information for all fault conditions.
허현동(Hyun Dong Her),이경수(Kyong Su Yi),황태훈(Tae Hoon Hwang) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5
본 논문에서는 타이어 힘에 기반하여 각 바퀴의 브레이크를 독립적으로 제어하는 전자식 차량 안정성 제어 장치(Electronic Stability Control)를 제안하였다. 본 논문에서는 타이어 정보를 직접적으로 이용하여 기존의 제어 알고리즘을 개선하였다. 제안된 제어 알고리즘은 상위 제어기와 하위 제어기로 구성되어있다. 상위제어기에서는 타이어 정보를 차량의 횡방향 모델에 직접적으로 사용하여 모델의 불확정성을 줄이고, 비선형 영역을 고려함으로써 정확한 제어입력을 계산하였다. 하위제어기에서는 종방향 타이어 힘에 따른 횡방향 타이어 힘 감소량을 계산하여 모멘트 평형식에 대입하여 상위 제어기에서 계산된 제어입력 추종을 위한 최적 브레이크압 분배를 구현하였다. 알고리즘의 검증은 차량-운전자-제어기 모델을 포함한 closed-loop 시뮬레이션으로 수행되었다. The development of an Electronic Stability Control using individual brake force distribution based on tire force information was presented in this paper. The objective of the proposed ESC algorithm is to determine the individual brake forces to improve the performance of the controller. This ESC algorithm consists of an upper level controller and a lower level controller. The upper level controller calculates the desired yaw moment for satisfying the driver’s intention. The lateral dynamic model can be more accurate by getting rid of the uncertainties caused by complex tire model. In the lower level controller, the individual braking forces are determined by the optimal strategy. The closed loop computer simulation results with driver-vehicle-controller system confirm the effectiveness of the proposed control system and the improvements in vehicle stability.
이재풍(Jae Poong Lee),이경수(Kyong su Yi),신재곤(Jae Kon Shin) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
This paper proposes a reference steering wheel torque map and a torque tracking algorithm via steer-by-wire to design the targeted steering feel. The map is designed using the measurement data of rack force and steering characteristic of a target performance of the vehicle at transition steering test. Since the target performance of the vehicle is only tested in nominal road condition, various road conditions such as disturbances and tire-road friction are not considered. Hence, the measurement data of the rack force of reflecting the road conditions have been used. A motor and a magnetorheological damper are used as actuators to generate the desired steering feel using the torque tracking algorithm. The tracking algorithm is composed of feedforward and feedback control. The feedforward control uses the plant dynamics to compensate for the torque and the feedback control uses a proportional integral derivative control methodology to compensate for the error between the steering wheel torque and the reference wheel torque. The performance of the proposed controller was evaluated with various tests using computer simulations.