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변윤섭(Yeun-Sub Byun),목재균(Jei-kyun Mok),김영철(Young-Chol Kim) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.10
In general, PID controller is widely used for speed control of motor. PID control method is easy and simple to set the control gains without model parameters. However, the precise and robust control of the motors needs complex and difficult control method. In this paper, we present a simple and robust speed controller for disturbances of a motor. The numerical simulation shows that the proposed control considering disturbances can improve the speed tracking performance more than PI control.
변윤섭(Yeun-Sub Byun),목재균(Jei-kyun Mok),윤경한(Kyoung-Han Yun),김영철(Young-Chol Kim) 대한전기학회 2008 대한전기학회 학술대회 논문집 Vol.2008 No.10
The Bimodal tram is developed in KRRI (Korea Railroad Research Institute). This vehicle will be used in the public transportation system. The Bimodal tram has the advantages of both bus and train. Bus system has the advantages of flexibility of the routes delivering passengers to the destination and easy accessibility. Train is to meet the scheduled arrival and massive public transportations. The vehicle is the rubber tired tram and is all wheel steered single articulation. The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the vehicle lanes will be marked with permanent magnets that are buried in the road. The control algorithm developed for navigation control has to be verified before being applied in the vehicle. In this purpose, we design the simulator for controller test of the bimodal tram.
변윤섭(Yeun-Sub Byun),김영철(Young-Chol Kim),목재균(Jei-kyun Mok) 대한전기학회 2011 전기학회논문지 Vol.60 No.10
In this paper, we propose vehicle running characteristic simulator. The developed simulator is configured by two induction motors which are directly coupled with each other. One motor is to simulate the vehicle drive and another motor is to simulate the vehicle dynamic load including running resistance, gradient resistance and adhesive characteristics between rail and wheel. The running characteristics of vehicle are modeled by numerical formulas. These are programed by software of embedded controller. Thus, it is possible to change several running characteristics during the running test freely and instantly. To evaluate the feasibility of the simulator, the experiments on slip and adhesion coefficient are performed. Additionally the adhesion control and speed control of vehicle are tested with simulator. Experimental results show that the simulator can produce the driving characteristics similar to the vehicle system.
바이모달트램 차량속도센서 신호의 신뢰성 계수를 이용한 속도보정 방법
변윤섭(Yeun-Sub Byun),이강원(Kang-Won Lee),목재균(Jei-kyun Mok),김영철(Young-Chol Kim) 대한전기학회 2010 대한전기학회 학술대회 논문집 Vol.2010 No.7
The Bimodal-tram is developed in KRRI (Korea Railroad Research Institute). The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the NCS has to estimate a vehicle position. The NCS calculates the position of the vehicle using the sensors. Thus the confidence of sensors is important. In this paper, we decide the confidence of speed sensors and correct the speed signal using the confidence coefficient
변윤섭(Yeun-Sub Byun),김민수(Min-Soo Kim),목재균(Jei-kyun Mok),김영철(Young-Chol Kim) 대한전기학회 2009 대한전기학회 학술대회 논문집 Vol.2009 No.7
In this paper, we propose the mathematical model for the vehicle system and the observer for adhesion force. To model the dynamic properties of vehicle system, we have considered two fundamental parts. The first part is the motion equations for vehicle based on Newton's second law. The second part is the torque dynamics of the traction motor. These parts are affected by outer conditions such as adhesive coefficient, running resistance and gradient resistance. The each parts are presented by the numerical formula. From two equations, we get the observer on adhesion force. Simulation results show that the proposed observer have the good performance compared with the normal observer.
변윤섭(Yeun-Sub Byun),이강원(Kang-Won Lee),목재균(Jei-kyun Mok),김영철(Young-Chol Kim) 대한전기학회 2010 정보 및 제어 심포지엄 논문집 Vol.2010 No.10
Bimodal tram is developed by KRRI (Korea Railroad Research Institute). This vehicle will be used for public transportation system. The Bimodal tram has the advantages of both bus and train. Bus system has the advantages of flexibility of the routes delivering passengers to the destination and easy accessibility. The vehicle has a navigation control system (NCS) for automatic driving. NCS has a reference path which is designed by specific S/W tool. The vehicle has to follow this reference path in automatic mode. NCS uses magnet markers to calculate the vehicle position. The vehicle lane is marked with permanent magnets that are buried in the road. The control performance for navigation controller has to be verified before being applied in public transportation system. In this purpose, we have tested the Bimodal tram and NCS on path tracking and precision docking performance.
CAN통신을 이용한 Bimodal-tram Simulator
변윤섭(Yeun-Sub Byun),김영철(Young-Chol Kim),윤경한(Kyoung-Han Yun),목재균(Jei-kyun Mok) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.10
In this paper we present the bimodal-tram simulator using CAN communication. The Bimodal tram is developed in KRRI (Korea Railroad Research Institute). The Bimodal tram has the advantages of both bus and train. The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the vehicle lanes will be marked with permanent magnets that are buried in the road. The control algorithm developed for navigation control has to be tested before being applied in the vehicle. In this purpose, we design the simulator for controller test of the bimodal-tram.