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DEVELOPMENT OF A HARDWARE IN THE LOOP SIMULATION SYSTEM FOR ELECTRIC POWER STEERING IN VEHICLES
이만형,H. M. LEE,K. S. LEE,S. K. HA,J. I. BAE,J. H. PARK,박형규,H. J. CHOI,전호환 한국자동차공학회 2011 International journal of automotive technology Vol.12 No.5
In this paper, a hardware-in-the-loop simulation (HILS) system was developed before the development of an electric power steering (EPS) system in a vehicle. This study was focused on the establishment of the HILS system. Driving conditions are simulated with the HILS system. The actual steering input parameters are confirmed on the monitor while driving the HILS system. The steering forces observed in the simulation with the developed HILS system are similar to those in real vehicle tests. The developed HILS system can be applied in the development of various types of EPS systems.
탄성관절을 갖는 로보트 매니퓰레이터의 안정한 합성제어기 설계
이만형(M.H. Lee),백운보(W.B. Baek),이권순(K.S. Lee),배종일(J.I. Bae) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
This paper presents a new stable composite control law for the flexible joint robot manipulators, which incorporate the additional stabilizing control law with sliding property. The singularly perturbated models include inertia moments functions of the deformations of actuator. The newly defined fast controller variable is computed from the corrected reduced-order model without additional computational loads. The simulations for 2 DOF flexible joint manipulator show that the proposed schemes are more stable than conventional one, and especially effective for the manipulator with high joint-flexibilities.