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개인 이동체의 탑승자 질량 변화에 강인한 선형 매개변수 가변 제어기법
안대용(Dae-Young An),강창묵(Chang Mook Kang) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11
Linear parameter varying(LPV) system can be effectively applied to control in an environment where parameters change. And linear quadratic regulator(LQR) controller is optimal controller in state-space model. In this paper, we propose a LPV controller for velocity control of personal mobility such as an electric wheelchair, which can be varying a wheelchair mass. We are modelling a wheelchair system using dynamics and kinematics and get an interpolation parameter vector by weighing a wheelchair mass. It can be optimized control strategy for the user`s weight using the LPV control system. To prove the effectiveness of the proposed method, a single LQR controller and LPV controller were compared and analyzed using MATLAB/Simulink. The proposed method has better control performance compared to a single LQR controller.
강창묵(Kang, Chang-Mook),김정훈(Kim, Jung-Hun),박미연(Park, Mi-Yeon),소병춘(So, Byeong-Chun),공정식(Kong, Jung-Sik) 한국구조물진단유지관리학회 2011 한국구조물진단학회 학술발표회논문집 Vol.15 No.1
To develop the condition state model for open type wharf, the documents of maintenance managements and condition state DB for the structure are analyzed. The several condition state models for open type wharf according to regions(east, west, south) were evaluated by using data process. From the results, the methodical and efficient maintenance managements can be realized.
근사 타이어 및 횡방향 차량동역학 모델을 이용하는 사이드 슬립각 예측
강창묵(Chang Mook Kang),이승희(Seung-Hi Lee),손영섭(Youngseop Son),김보아(Bo-Ah Kim),이규호(Kyu Ho Lee),정정주(Chung Choo Chung) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
This paper develops a state estimator based side slip angle estimation, which involves approximate tire model, lateral dynamics model, and feedback of measurements. We developed the estimator using a special vehicle lateral dynamics model by the approximation of the roll motion of a vehicle. In this paper, we will present how to design the estimator. Experimental evaluation was conducted to demonstrate its performance. Some performance comparisons with RT3000 and Carsim are to be persented.
강창묵(Kang Chang Mook) 대한전기학회 2021 전기의 세계 Vol.70 No.2
본 고에서는 4차산업혁명의 핵심 산물 중 하나인 자율주행기술을 중심으로 지능형 이동로봇의 기술과 응용에 대해 다룬다. 1963년 지능형 이동로봇의 시초인 Shakey로부터 현재 자율주행차 기술까지 그 현황에 대해 살펴보고, 물류와 보안 로봇 등 이동로봇의 응용 기술들과 한계점, 그리고 발전 방향에 대해 살펴본다. This script deals with the technologies and applications of intelligent mobile robots, focusing on autonomous driving technology, one of the core technologies of the 4th industrial revolution. From Shakey, the beginning of intelligent mobile robots in 1963, to the current autonomous vehicle technology, we will look at the application technologies of mobile robots such as logistics and security robots, their limitations, and development ways to overcome limitations.