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한계 선회 가속시 스티어링 복원성 원리 분석과 보상 로직 개발
이한승(Hanseung Lee),정대석(Daesuk Jung),이재길(Jaekil Lee) 한국자동차공학회 2017 한국자동차공학회 학술대회 및 전시회 Vol.2017 No.11
This paper describes steering returnability by analyzing forces applied to kingpin axis in limit cornering condition. The steering returnability is related to force applied to kingpin axis. These forces could be classified by its source: Tire force and Steering force. The tire force is the force generated from tire such as longitudinal, lateral, vertical force, and self-aligning torque. The steering force consists of friction force and assist force. These forces are vectorized by suspension geometry and calculated with respect to kingpin axis. The simulation results are correlated with measurement data and verifies that steering returnability is formulated by tire forces and steering forces. This study proposes new steering control logic at limit driving condition This logic is verified by simulation model to check performance and confirmed in various test conditions for robustness..
자율 주차 시스템의 직각 주차를 위한 조향 제어 알고리즘
이한승(Hanseung Lee),김동욱(Dongwook Kim),이경수(Kyongsu Yi) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
This paper describes a steering control algorithm of autonomous parking vehicle for perpendicular parking. The proposed control algorithm consists of a desired path generation, a path tracking controller and steering angle decision. The desired path is generated by consisting of arcs and lines when starting point and target point are given. A path tracking controller is designed based on linear quadratic optimal control method using 2 DOF bicycle model. The path tracking controller determines a front steering angle in order to track the desired path determined by the path generation algorithm while vehicle moves forward to approach to parking space. Parking space and updated target point is defined by using sonar sensors when vehicle approaches to parking space. Steering control algorithm calculates a front steering angle in order to enter parking space backward and determines feedback steering angle when collision is predicted by sonar sensor data. The performance of proposed control algorithm has been verified using computer simulations.
이한승(Hanseung Lee),김종민(Jongmin Kim),박수보(Soobo Park) 한국자동차공학회 2014 한국자동차공학회 학술대회 및 전시회 Vol.2014 No.11
This paper descries design parameters of Ackerman steering geometry influencing on vehicle handling performances. It is assumed that the Ackerman steering geometry should be designed by considering tire characteristics especially regarding lateral force and these design parameters are related to a performance limit, response, and traceability. The test design plan consists of three conditions: turning concentric circle test, step steer test, and double lane changes. These test conditions follow ISO or test standard of Hyundai Motor Company. The influence of the proposed assumption has been verified by using computer simulation.
Folded Reflectarray를 이용한 고이득 94 ㎓ 모노펄스 안테나
이한승(Hanseung Lee),채희덕(Heeduck Chae),전종훈(Jonghoon Chun),남상욱(Sangwook Nam) 한국전자파학회 2008 한국전자파학회논문지 Vol.19 No.1
본 논문은 94 ㎓를 중심 주파수로 하며, 모노펄스 형식의 추적 레이다 시스템에 사용되는 folded reflectarray 안테나를 제안한다. 추적 레이다는 대부분 목표물로부터 반사되어 돌아온 반사 신호들을 비교하여 목표물을 찾으며, 모노펄스 형식에서는 이러한 신호들의 비교를 동시에 수행한다. 본 논문에서 제안한 모노펄스 형식의 folded reflectarray 안테나는 polarizing grid, reflectarray, 다중 모드 feed horn, 그리고 도파관으로 제작된 comparator로 이루어져 있다. 제작된 안테나는 다중 모드 feed horn과 comparator의 모노펄스 급전부에 의해 sum 모드, azimuth 모드, 그리고 elevation 모드, 이렇게 세 개의 방사 패턴 형식을 나타낼 수 있다. 측정 결과, sum 패턴에서는 36 ㏈, azimuth 패턴에서는 33.5 ㏈, 그리고 elevation 패턴에서는 27.2 ㏈의 이득을 확인할 수 있었다. This paper proposes a high-gain monopulse antenna using the folded reflectarray for a monopulse target-tracking radar systems designed at the center frequency of 94 ㎓. In target-tracking radar systems, the angle of arrival of the incoming wave is determined by comparing the signal received on two or more non-coincident antenna patterns. This is the physical basis of most target-tracking techniques and the comparison is made simultaneously in a monopulse radar systems. In this paper, the antenna consists of polarizing grid, reflectarray, multimode feed horn, and comparator implemented by waveguide. The antenna is able to have three radiation patterns by using the monopulse feed systems assembled by multimode feed horn and comparator. The antenna demonstrates maximum gains 36 ㏈, 33.5 ㏈ and 27.2 ㏈ at sum mode, azimuth mode, and elevation mode respectively.