Kyung-Deuk Min

Automatic guidance control of an articulated all-wheel-steered vehicle

This paper presents automatic guidance control of a single-articulated all-wheel-steered vehicle being developed by the Korea Railroad Research Institute. The vehicle has an independent drive motor on each wheel except for the front axle. The guidance controller is designed so that the vehicle follows the given reference path within permissible lateral deviations. We use a three-input/three-output linearised model derived from the nonlinear dynamic model of the vehicle. For the purpose of simplifying the controller and making it tunable, we consider a decentralised control configuration. We first design a second-order decoupling compensator for the two-input/two-output system that is strongly coupled and then design a first-order controller for each decoupled feedback loop by using the characteristic ratio assignment method. The simulation results for the nonlinear dynamic model indicate that the proposed control configuration successfully achieves the design objectives.

Steering control for lateral guidance of an all wheel steered vehicle

This paper presents the design of low-order controller for lateral guidance of an all wheel steered, single articulated vehicle. The vehicle has independent drives on each wheel except for the front axle. The design of controller is based on a three input-three output linearised model which is derived from the nonlinear vehicle dynamic model. For the purpose of making the controller be simple and tunable, a low-order control configuration associated with a decoupling compensator is considered and has been designed by using the methods in [4,5] so as to meet several performance requirements, subject to different reference paths and vehicle speeds. It is shown by simulation results that the resulting linear controller applied to the nonlinear dynamic model achieves the design objectives successfully.

A lateral dynamic model of an all Wheel steered bimodal vehicle

This paper is concerned with a dynamic model of a bimodal vehicle that is being developed by KRRI. The vehicle characterizes to have all wheel steering and independent drives on each wheel except for the front ones. As a first step to design a good automatic guidance controller for the vehicle, a nonlinear vehicle dynamic model has been formulated. Since the effect of independent drives on steering angles is not much, only 3 steering angles of 3 axles are considered as inputs for linearised lateral motion. Finally, the linearised dynamic model in state space form is derived.

Lateral Dynamic Model of an All-Wheel Steered Articulated Vehicle for Guidance Control

This paper deals with the lateral dynamic model of an all-wheel steered articulated vehicle to design a guidance controller. Nonlinear dynamic model of articulated vehicle is developed by complementing the model about the BRT system of California PATH in U. S. A. and the Phileas system of the APTS in Netherlands. Linear lateral dynamic model has been derived from the nonlinear dynamic model under some assumptions associated with the driving conditions. To design a guidance controller, we derive a transfer function that is steering angle as input and lateral acceleration as output from the linear lateral dynamic model by applying the parameter of vehicle that is developed by Korea Railroad Research Institute. To validate the dynamic model, nonlinear dynamic model has been compared with a vehicle model that has been programmed in ADAMS, and linear dynamic model has been compared with a nonlinear dynamic model under sime assumptions.

Three-Dimensional Dynamic Model of Full Vehicle

A three-dimensional dynamic model for simulating various motions of full vehicle is presented. The model has 16 independent degrees of freedom (DOF) consisting of three kinds of components; a vehicle body of 6 DOF, 4 independent suspensions equipped at every corner of the body, and 4 tire models linked with each suspension. The dynamic equations are represented in six coordinate frames such as world fixed coordinate, vehicle fixed coordinate, and four wheel fixed coordinate frames. Then these lead to the approximated prediction model of vehicle posture. Both lateral and longitudinal dynamics can be computed simultaneously under the conditions of which various inputs including steering command, driving torque, gravity, rolling resistance of tire, aerodynamic resistance, etc. are considered. It is shown through simulations that the proposed 3D model can be useful for precise design and performance analysis of any full vehicle control systems.

Empirical Modeling of Steering System for Autonomous Vehicles

To design an automatic steering controller with high performance for autonomous vehicle, it is necessary to have a precise model of the lateral dynamics with respect to the steering command input. This paper presents an empirical modeling of the steering system for an autonomous vehicle. The steering system here is represented by three individual transfer function models: a steering wheel actuator model from the steering command input to the steering angle of the shaft, a dynamic model between the steering angle and the yaw rate of the vehicle, and a dynamic model between the steering command and the lateral deviation of vehicle. These models are identified using frequency response data. Experiments were performed using a real vehicle. It is shown that the resulting identified models have been well fitted to the experimental data.

An Improved Electronic Esophageal Stethoscope using Sound and Pressure Sensors

Esophageal stethoscope is used for monitoring the heart sounds and breath sounds of patients during surgery under a general anesthesia. Recently, an electronic esophageal stethoscope (EES)(1) has been developed for the purpose of real-time monitoring these information visually. This system uses only a microphone as the sound sensor. A drawback of the EES system is that it may be difficult to distinguish the first sound ( ) and the second sound ( ) of heart, because their periods are irregular depending on patients. In this paper, we propose an improved EES system in which the infrasound is measured by adding a pressure sensor as well as a sound sensor. We investigate some correlations between the infrasound and characteristics of the heart sound. The proposed system has been tested on 15 patients. The results show that the new system is capable of detecting the first sound more reliably and easily determining the heart rate and breathing period.

Evaluations of the Robustness of Guidance Controller for a Bimodal Tram

This paper is concerned with the robustness evaluations of the guidance controller for a bimodal tram which is being developed by the Korea Railroad Research Institute (KRRI). The bimodal tram is an all-wheel steered multiple-articulated vehicle as a new kind of transportation vehicle. This vehicle has to be equipped with an automatic guidance system. In [1], such a controller has been recently proposed. However, since the performance is affected by weight change of the vehicle due to number of the passenger, model parameter uncertainties depending on the state of friction and the elasticity of the tire, and a typhoon, the controller designed must be examined with these conditions. As expected, because the vehicle dynamics is highly nonlinear, for the sake of investigating the robustness of the controller we compose two simulation ways based on the vehicle models which are implemented by the ADAMS and the MATLAB/LabVIEW toolboxes. Different uncertainties and a typhoon disturbance have been considered for the simulation conditions. Simulation results are shown.

Position and Orientation Estimation of a Maneticalluy Guided-Articulated Vehicle

For automated guidance control of a magnetically guided-all wheel steered vehicle, it is necessary to have information about position and orientation of the vehicle, and deviations from the reference path in real time. The magnet reference system considered here consists of three magnetic sensors mounted on the vehicle and magnetic markers, which are non-equidistantly buried in the road. This paper presents an observer to estimate such position and orientation at the center of gravity of the vehicle. This algorithm is based on the simple kinematic model of vehicle and uses the data of wheel velocity, steering angle, and the discrete measurements of marker positions. Since this algorithm requires the exact values of initial states, we have also proposed an algorithm of determining the initial position and orientation from the 16 successive magnet pole data, which are given by the magnetic measurement system(MMS). The proposed algorithm is capable of continuing to estimate for the case that the magnetic sensor fail to measure up to three successive magnets. It is shown through experimental data that the proposed algorithm works well within permissible error range.