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LMI 제어를 적용한 트레일러 차동 브레이킹 제어를 통한 주행 안전성 개선
강래청(Raecheong Kang),장은영(Eunyoung Jang),임묘택(Myotaek Lim) 한국자동차공학회 2023 한국자동차공학회 학술대회 및 전시회 Vol.2023 No.11
This study proposes a control methodology using Linear Matrix Inequality (LMI) techniques to minimize lateral oscillations during trailer steering in electric buses equipped with fuel cell systems. The trailers examined have a shorter length, making them more susceptible to lateral oscillations caused by sudden steering changes. The objective is to enhance driving safety and stability by minimizing these oscillations. The research focuses on the safety aspects of the trailers components, particularly the independent control of brakes installed on both sides of the trailers wheels. LMI control techniques, known for their applicability to multivariable systems and relatively simple mathematical computations, are employed. The study conducts system modeling incorporating electric buses and trailers, analyzes the influence of sudden steering maneuvers on lateral oscillations, and defines state-space models and performance objectives for LMI control design. Simulations using dSPACEs ASM model are performed to evaluate the proposed approach. Overall, this research aims to present an LMI-based control method for minimizing lateral oscillations during trailer steering in fuel cell-equipped trailers integrated into electric bus systems, thereby enhancing driving safety and stability.
FC-REEV 용 수소트레일러 안전제어를 위한 시뮬레이션 환경개발
강래청(Raecheong Kang),장은영(Eunyoung Jang),임묘택(Myotaek Lim) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11
Research is being conducted to expand the mileage in various forms such as plug-in electric buses and hybrid types using fuel cells. It is currently developing a technology that enables the battery to be charged while driving by applying an add-on trailer to an electric bus. Since the fuel-cell system in installed, safety control has to be involved in the trailer system for reduce impact that is generated by trailer sway. Unlike traditional trailers, the length is short, the height is high and the weight is high, so the effect analysis and simulation need to be approached in different direction. In this paper, simulation environment and desired articulation angle model are included and the result of simulation shows the possibility for the trailer brake control in this simulation shows the possibility for the trailer brake control in this simulation environment.
FPGA Board를 적용한 ZVS DC-DC Converter의 HIL Simulation 구현
강래청(Raecheong Kang),정기윤(Kiyun Jeong),김세현(Sehyun Kim),양인범(Inbeom Yang) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
The components of green-car are changed enormously by various power systems consisted of an engine and electric motors. Therefore, virtual integrated development environment is needed for modeling, performance evaluation and fault insertion test in a green car platform. Real-time simulation, hardware-in-the-loop, can be available to compose test environment for development and evaluation of electric components. The signal interface between the HIL simulator and a DC-DC converter is developed by designing appropriate wire harness and signal matching. Performance evaluation of the converter is conducted to show the feasibility of the HIL simulator at the virtual test environment. Several different scenarios are implemented and tested by the HIL simulator in real-time. The HIL simulator is also applied to the reliability and fault insertion tests such as extreme temperature test and over current test. HIL simulator generates fault signals on purpose in order to evaluate controller output signals at an abnormal mode. In this paper, the simulation environment is presented by developing Simulink models and compiling in the FPGAs board. The control board of the DC-DC converter is made and tested by the HIL simulation. The connection parts of the control board of the DC-DC converter are modified to communicate to the HIL simulator. To validate the safety at the abnormal situation, a variety of test scenarios can be simulated.
연료전지 시스템 기반 실도로모델 연계 차량모델 개발 및 시뮬레이션
장은영(Eunyoung Jang),강래청(Raecheong Kang),윤호영(Hoyoung Yun) 한국자동차공학회 2023 한국자동차공학회 학술대회 및 전시회 Vol.2023 No.11
This paper introduces a study on the development of a fuel cell system model and the creation of a vehicle model using dSPACEs Automotive Simulation Model. The research involves selecting specific road segments and utilizing OpenStreetMap(OSM) data to develop an accurate simulation of real road conditions. We performed simulations by integrating vehicle model, road model, and scenario model, and confirmed the vehicles performance and condition in various driving situations. Additionally, this research monitors the state of charge(SOC) of the battery and changes in the fuel cell system output during vehicle operation. This paper provides essential information on the development of fuel cell-based vehicle model and realistic road model, aiding in the understanding of vehicle performance under various operational conditions.
RCP를 통한 PMSM 구동 시스템의 고장 진단 로직 개발
정기윤(Kiyun Jeong),강래청(Raecheong Kang),김세현(Sehyun Kim),양인범(Inbeom Yang) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
In the complex electric drive system, abnormal status which is considered at first stage of development are very diverse, difficult to predict and irregular. Therefore, the study of fail-safety technology is required prior to beginning any development. In many cases, failure mode test is not easy to represent in the lab. There are simple forms of failure mode like that wire short, open and complex forms like that abnormal signal of current sensor, position sensor, etc. Test of complex forms is time-consuming, expensive. And there is limitation number of test sample. Then we have to consider alternative method of real hardware test. HIL simulator can make the condition and environment for fault insertion. We will operate real time simulation with dynamic model in HIL simulator. It measures PWM duty ratio and frequency of MCU output signals for operating electric drive model. Even though virtual development environment system can simulate the MCU, in this paper, RCP will replace real hardware. Based on HIL simulator and RCP hardware, we can build virtual development environment for testing MCU performance with normal and failure mode. The research object of this paper is the electric drive system used in electric vehicle. This drive system is composed of PMSM, inverter, battery and controller. In this study, fault diagnosis logic of electric parts is investigated.
HIL Simulation을 활용한 Multi-phase Interleaved 방식의 Converter 제어보드 성능 검증
이유식(Yousic Lee),강래청(Raecheong Kang),정기윤(Kiyun Jeong) 한국자동차공학회 2018 한국자동차공학회 학술대회 및 전시회 Vol.2018 No.11
The target for HIL simulation test is a controller board which controls power module parts of converter. Multi-phase interleaved DC-DC converter is applied. All parts of the converter expect the controller board need to be developed for making closed loop system between the HIL simulator and the controller board. And the interface model is added for communication between them. A FPGA board with fast sampling time is applied for reading the 100kHz PWM signals that is output of the converter. In this paper, models for JIL simulation are presented in order to explain how to operate the parts of the power module in the simulator. Then, the test result including basic performance and fault insertion test is shown at the last chaper.
HILS를 통한 RE-EV용 LV-BMS 제어기 기능 검증 평가
정아진(Ahjin Jung),강래청(RaeCheong Kang),정기윤(Kiyun Jeong),김은하(Eunha Kim) 한국자동차공학회 2017 한국자동차공학회 부문종합 학술대회 Vol.2017 No.5
In this paper, the LV-BMS(Low Voltage Battery Management System)is evaluated by Hardware -in-the-Loop Simulation(HILS) on the signal level interface, simultaneously implementing a dynamic model of electric motor in real-time. We make the signal to the BMS IO interface by HIL simulator and evaluate performance of BMS. It is expected that HILS can be used in developing and evaluating the control algorithm for BMS on the electric motor failure mode simulation.
자율주행 ECU의 보안성 평가를 위한 HILS 환경개발 및 시뮬레이션
윤호영(Hoyoung Yun),강래청(Raecheong Kang),장은영(Eunyoung Jang) 한국자동차공학회 2023 한국자동차공학회 학술대회 및 전시회 Vol.2023 No.11
The advancement of autonomous driving technology plays a pivotal role in transforming the driving environment and enhancing the efficiency and convenience of vehicle operation. However, autonomous driving systems are composed of various Electronic Control Units (ECUs) connected through networks, making them susceptible to security attacks such as hacking. These attacks can lead to severe consequences, including system manipulation and personal data breaches, highlighting the critical issue of security. As a result, evaluating the security of autonomous driving systems is of utmost importance. Security evaluation involves thorough validation of various attack scenarios and threat models for ECUs to identify potential vulnerabilities and weaknesses. To achieve this, our research leverages Hardware-in-the-Loop (HIL) simulation and the Controller Area Network (CAN) Fuzzer technique. HIL simulation is a robust method that combines real hardware and software components to conduct experiments under conditions closely resembling actual operating environments. In this study, we establish an HIL simulation environment to simulate the interaction between an autonomous driving logic-equipped vehicle model and ECUs. The CAN Fuzzer is a tool that transmits massive input data to ECUs via the CAN communication protocol, generated randomly. Such input data is employed for modeling unexpected and attack scenarios. Fuzzer, in conjunction with the connected CAN bus network, evaluates how ECUs respond to attacks. The primary objective of this study is to develop a methodology for assessing the security of autonomous driving ECUs by combining HIL simulation and the CAN Fuzzer technique. This methodology encompasses the detection of potential security vulnerabilities and the assessment of exploitability, among various factors, including emergency response calculation. Therefore, in this paper, we conduct research involving HIL simulation to test the systems response in various situations of autonomous vehicles and employ CAN Fuzzer to identify ECU vulnerabilities in the development of a security evaluation methodology