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타이어와 지면간 마찰계수의 실시간 추정 알고리즘에 대한 연구
박승욱(Seung-uk Park),김경웅(Kyung-woong Kim),나병철(Byung-chul Na) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.11
If the real-time maximum traction force between the tire and the road can be precisely estimated, it would be easier to control the vehicle behavior. Usually, estimation of friction coefficient requires tire tread stiffness and tire contact length on road surface. But in this research, tire tread stiffness property and contact length are obtained from traction force and self-aligning moment. Using the estimation method introduced in this paper, only required parameters are lateral, longitudinal, vertical force, self-aligning moment and rotational speeds of all wheel. Isotropic tire brush model is used to obtain the equations of traction force and self-aligning moment. Validation of developed algorithm is performed based on real tire data, and the possibility of friction coefficient estimation is confirmed.
권승희(Seunghee Kwon),정순용(Soonyong Jeong),김유승(Yuseung Kim) 한국지반환경공학회 2014 한국지반환경공학회논문집 Vol.15 No.3
본 연구에서는 매개변수 추정을 통하여 기존 배관 유동에 사용되는 유속 및 마찰계수 산정식을 대신할 수 있는 추정방법을 제안하고, 이를 실험을 통하여 증명하였다. 기존 유동에 관한 운동방정식이 반영하는 파라미터가 유체 유동에 초점이 맞춰져서 실제현장 적용 시 매개변수의 불확실성과 재료 불확도 등의 지배를 받게 되어 정확한 유동특성을 반영하기 어려운 반면에 이를 극복하기 위하여, 본 연구에서는 유동방정식의 시스템 모델링 기법을 통해 입출력 관계를 통한 유동특성 매개 변수를 산정하여 마찰계수를 추정할 수 있도록 하였다. This Research have suggested the new estimation method using parameter estimation algorithm to substitute established velocity and friction factor calculation equation. Established calculation equation has some difficulties for estimation and reflecting exactly flow specification cause parameter uncertainty and material uncertainty governed real phenomenon, so this research has used system modeling method for flow specification estimation and suggested estimation method.
한승재,이태영,이경수,Han, Seungjae,Lee, Taeyoung,Yi, Kyongsu 한국자동차안전학회 2013 자동차안전학회지 Vol.5 No.2
This paper describes an algorithm for Advanced Emergency Braking(AEB) with tire-road friction coefficient estimation. The AEB is a system to avoid a collision or mitigate a collision impact by decelerating the car automatically when forward collision is imminent. Typical AEB system is operated by Time-to-collision(TTC), which considers only relative velocity and clearance from control vehicle to preceding vehicle. AEB operation by TTC has a limit that tire-road friction coefficient is not considered. In this paper, Tire-road friction coefficient is also considered to achieve more safe operation of AEB. Interacting Multiple Model method(IMM) is used for Tire-road friction coefficient estimation. The AEB algorithm consists of friction coefficient estimator and upper level controller and lower level controller. The numerical simulation has been conducted to demonstrate the control performance of the proposed AEB algorithm. The simulation study has been conducted with a closed-loop driver-controller-vehicle system using using MATLAB-Simulink software and CarSim Vehicle model.
양산자동차 부착 센서를 활용한 노면마찰계수 추정 알고리즘 개발
한상윤(Sangyun Han) 한국자동차공학회 2018 한국자동차공학회 학술대회 및 전시회 Vol.2018 No.11
In this study, we proposed a road surface friction coefficient estimation algorithm using a mass production vehicle sensor. The algorithm uses the current friction force as the road surface friction coefficient when the wheel slip occurs, and gradually increases the road surface friction coefficient calculated at the previous period when the wheel slip does not occur. By using the proposed algorithm, the real vehicle validation test was performed on the dry asphalt surface and ice surface. As a result of the test, it took up to 0.9 seconds to judge the coefficient of friction and judgment value of road friction coefficient showed error of maximum 0.2μ.
한진오(Jin-Oh Hahn),이교일(Kyo Il Lee) 대한기계학회 2004 대한기계학회 춘추학술대회 Vol.2004 No.4
This paper presents an adaptive approach to control the amount of slip of the torque converter bypass clutch using its estimated friction coefficient. The proposed approach can be readily implemented using the inexpensive speed sensors currently installed in an automobile. A measurement feedback control law to drive the slip error to zero together with an adaptation law to identify the unknown friction coefficient is developed using the Lyapunov control design method. The robustness of the control and adaptation laws to parametric and/or torque uncertainties as well as the convergence of the friction coefficient are investigated. Simulation results verify the viability of the proposed control algorithm in real-world vehicle control applications.
한창평(Chang Pyoung Han),박경석(Kyoung Suk Park),최명진(Myung Jin Choi) 한국자동차공학회 2007 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
The transient brake time or distance is one of very important factors to guess the vehicle speed to inspect an automobile accident. But, it is usual that the vehicle speed is estimated by using only skid mark without considering the transient brake distance. Deceleration and the friction coefficients of tire and road surface play an important role in calculating the brake distance. In this paper, a scheme is presented to estimate more accurate automobile speed. The scheme contains the effect of the transient brake distance on the speed. Experiment was carried out on the asphalt, unpacked road to get relationships between the speeds and the skid mark distances, and to get the transient brake time. The experimental results were utilized to construct the equation to approximate more realistic vehicle speeds.
지능형 타이어 시스템 활용 노면마찰계수 추정 알고리즘에 관한 연구
김일호(Il-Ho Kim),이종현(JongHyun Yi),허승진(Seung-Jin Heo),김주곤(JooGon Kim) 한국자동차공학회 2014 한국자동차공학회 학술대회 및 전시회 Vol.2014 No.11
Vehicle motion is determined by tire forces according to road condition. Therefore, information of tire-road friction is very useful factor to improve stability of chassis control system and Advanced Driver Assistance System(ADAS). This paper indicates current research trends about road friction coefficient estimation and suggests algorithm that can estimate the tire-road friction coefficient during braking and use vehicle’s signals with vertical force from intelligent tire based on deformation sensor, which attached on the tire inner liner. Also, the usefulness of algorithm is verified by vehicle test, which are braking test on wet ABS and dry asphalt road with WFT(Wheel Force Transducer). Finally, the repeatability and reproducibility of suggested tire-road friction coefficient algorithm are validated by vehicle test included RCP(Rapid Control Prototyping) equipment and intelligent tire.