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비 구형 기어를 이용한 자기강화 브레이크 시스템의 강인제어 로직 개발
박희람(Heeram Park),최세범(Seibum Choi),김주곤(Joogon Kim),김명준(Myoungjune Kim) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
Simens VDO, German electronic and mechatronic developer announced an innovative braking device called Electronic Wedge Brake (EWB). It uses self-energizing effect, so it is the most energy-effective braking device among Brakeby-Wire systems which is compatible with existing 12 Volts system. A new type of EWB which is called Electronic Noncircular Gear Brake was developed by S. Kim and S. Choi. This brake system has the possibility applying variable wedge angle to system by using noncircular gears. But, as the brake also uses self energizing effect, it is very sensitive to parametric variance. For this reason adaptive controller was developed by Y. Hwang and S. Kim. In this research, the performance of previous adaptive controller is discussed. Based on the previous work, a modified adaption algorithm is proposed and verified by numerical simulation.
오지원(Jiwon Oh),최세범(Seibum Choi),서지윤(Jee-Yun Seo),유승한(Seung-Han You) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.4
본 논문의 주제는 차량의 종, 횡 수직방향의 속도, 총 롤각, 피치각, 그리고 노면 경사각의 동시 온라인 추정이다. 이는 스티어링 각도 정보, 차륜 속도 정보, 그리고 6D IMU에서 제공되는 각축의 가속도와 각속도 정보를 이용하여 이루어진다. 차량 선형 모델 기반 관측기, 코너링 강성 adaptation, 그리고 유사적분법에 의하여 얻을 수 있는 네 가지의 횡속 추정을 제시하고, 이들의 효과적인 혼합 전략을 통하여 principal kinematic 관측기를 위한 reference를 생성한다. 이것은 차량 각도 관측기와 소통하며, 언급된 모드 차량 상태 추정을 가능케 한다. 통합된 차량 상태 관측기의 성능은 잘 알려진 차량 동역학 시뮬레이션 프로그램인 CarSim을 통하여 이루어졌다. The main concern of this paper is about the accurate simultaneous real-time estimation of the longitudinal, lateral, vertical vehicle velocities at its center of gravity, total roll and pitch angle, and the road bank and hill angle. The observer uses steering angle and wheel speed sensor data along with the inexpensive 6D IMU that provides accelerations and angular velocities about each axis. Through introducing the bicycle model based observer, cornering stiffness adaptation, and pseudointegration, four sources of lateral velocity estimation are obtained so that they are synthesized to give a reference for the principal kinematic observer. This interacts with the attitude observer so enable the accurate estimation of all mentioned vehicle states. The performance is tested with a well-known vehicle dynamics simulation tool, CarSim.
터보차져 디젤엔진의 공기 순환계 모델링 및 모델기반 슬라이딩 모드 제어
윤영식(Youngsik Yoon),최세범(Seibum Choi),고민석(Minseok Ko),임지훈(Jihoon Lim) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
Recently, the emission of hazardous materials (NOx and PM) in diesel engine is a critical issue. The regulations with respect to the NOx and PM are getting stricter, increasingly. Not only the emission problem but also fuel efficiency is considered as a serious issue to develop new turbocharged diesel engines. Thus, currently diesel engines are equipped with exhaust gas recirculation (EGR) and variable geometry turbocharger (VGT). Basically, the diesel engine with EGR and VGT is a highly nonlinear system as well as a Multi-input and multi-output (MIMO) system. Moreover, since EGR and VGT are powered by exhaust gas, severe coupling effect exists. However, conventional Electric Control Unit (ECU) ignores this severe coupling effect and controls the turbocharged diesel engine by using independent single-input single-output (SISO) control methods. Hence, the model based MIMO control method is required not only to treat the coupling effect of EGR and VGT, but also to improve the performance of the engine operation with high fuel economy and low emission level. In this paper, three different model based sliding mode control approaches are proposed to regulate intake manifold pressure (MAP) and exhaust manifold pressure (EXMAP), simultaneously, by controlling exhaust gas recirculation (EGR) flow rate and turbine flow rate. The first approach is high performance robust controller design using nonlinear sliding surface. The second approach is extended input-output linearization for sliding mode control. The third approach is using proportional integral sliding mode control (PISMC) method into turbocharged diesel engine.
MR 댐퍼의 상대속도 추정을 위한 Takagi-Sugeno 퍼지 관측기 개발
정기철(Kicheol Jeong),최세범(Seibum Choi),이준명(Junmyung Lee),김현태(Hyuntae Kim) 한국자동차공학회 2019 한국자동차공학회 부문종합 학술대회 Vol.2019 No.5
In this paper, the Takagi-Sugeno (T-S) fuzzy observer is proposed to estimate the relative velocity of magnetorheological (MR) damper. MR damper has highly nonlinear dynamics therefore the linear observer design method cannot be adopted. Therefore, T-S modeling technique such as sector nonlinearity is used to design T-S fuzzy model. The T-S model is developed from the experimental dataset. This paper uses two MR damper models. First, the phenomenological model is used as a plant. This model is used to build the damper force for vehicle simulator Carsim. Next, the bouc-wen model is used to design T-S fuzzy observer. This paper proposes T-S fuzzy observer which has unmeasured premise variables. To verify the stability of this observer, Lyapunov stability theorem is used. The proposed observer is verified to vehicle simulator Carsim and Matlab/Simulink. Consequently, this paper proposed the relative velocity estimator which has robustness to unknown road input.