인문학
사회과학
자연과학
공학
의약학
농수해양학
예술체육학
복합학
DBpia AI
AI 에이전트
AI 아이디어
AI 리더
AI 뷰어
Citeasy
크롬 서지관리 다운로드
지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2018.6
- 수록면
- 447 - 451 (5page)
이용수
초록· 키워드
In this paper, we present a hybrid impedance control for smoothly and easily taking over the steering wheel from the autonomous driving system as well as to for the steering angle tracking control in the rack-mounted MDPS (R-MDPS). The proposed method consists of an impedance control for taking over and a sliding mode control for steering angle tracking. With the driver’s torque, the proposed method is activated as the impedance controller. The desired impedance transfer function from the driver’s torque to the steering angle is designed to reflect the driver’s torque to the steering control. Then, the desired impedance steering angle is derived for the desired impedance. If the unintended driver’s torque is small, the effect of the driver’s torque to the steering angle is also small by the designed impedance. If the intended driver’s torque for steering control is relatively large, the driver’s torque can be reflected to the steering control by the designed impedance. Without the driver’s torque, the proposed method is activated as the steering angle tracking controller for the autonomous driving. The sliding mode control method is designed based on the super twisting algorithm for the steering angle tracking control.
#Autonomous Vehicle(자율 주행 자동차)
#Power Steering(동력 조향)
#Rack mounted Motor Driven Power System(R-MDPS)
#Driving Authority Transition(운전 조향권 이양)
#Super Twisting Sliding Control(슬라이딩 제어)
상세정보 수정요청해당 페이지 내 제목·저자·목차·페이지정보가 잘못된 경우 알려주세요!
목차
- Abstract
- 1. 서론
- 2. R-MDPS 동역학 모델
- 3. Hybrid Impedance Control Design
- 4. Steering Control
- 5. 실험 결과
- 6. 결론
- References
참고문헌
참고문헌 신청최근 본 자료
