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Time Delay Controller(TDC) Design of Electric Power Steering(EPS) for Lateral Control in Automated Vehicles : 자율주행 차량의 횡방향 제어를 위한 전기식 파워 조향기의 시간 지연 제어기 설계
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 이경수 | - |
dc.contributor.author | 이기수 | - |
dc.date.accessioned | 2017-07-14T03:38:59Z | - |
dc.date.available | 2017-07-14T03:38:59Z | - |
dc.date.issued | 2016-02 | - |
dc.identifier.other | 000000132012 | - |
dc.identifier.uri | https://hdl.handle.net/10371/123856 | - |
dc.description | 학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2016. 2. 이경수. | - |
dc.description.abstract | This paper presents a steering wheel angle control algorithm for automated driving vehicles. Time-delay-controller has been applied and aims at tracking desired steering wheel angle with robustness against disturbance. Rack force in Electric Power Steering(EPS) system due to self-aligning torque and system uncertainty have been considered as the disturbance. The proposed control method requires only control input and states information at previous step in order to generate torque input command. Therefore, the control strategy covers uncertainty of steering system. The performance of the steering wheel angle controller was validated via computer simulation and vehicle test results. The proposed control algorithm compensated disturbance of the Electric Power Steering(EPS) system and reduced steering wheel angle tracking error. | - |
dc.description.tableofcontents | Chapter 1 Introduction 1
1.1 Background and Motivation 1 1.2 Previous Researches 1 1.3 Purpose of Research 2 Chapter 2 Electric Power Steeirng System 3 Chapter 3 Nonlinear Time Delay Control 5 3.1 Time Delay Controller for Desired Steering Wheel Angle Tracking 5 3.2 Time Delay Controller for Vehicle Test 6 Chapter 4 Simulation 9 4.1 Simulation Configuration 9 4.2 Steering Wheel Angle Tracking Performance 10 Chapter 5 Automated Vehicle Test Results 15 5.1 Test Vehicle Configuration 15 5.2 Steering Wheel Angle Tracking Performance . 16 Chapter 6 Conclusion 23 Bibliography 24 국문초록 25 | - |
dc.format | application/pdf | - |
dc.format.extent | 650278 bytes | - |
dc.format.medium | application/pdf | - |
dc.language.iso | en | - |
dc.publisher | 서울대학교 대학원 | - |
dc.subject | Automated driving vehicle | - |
dc.subject | Electric Power Steering(EPS) | - |
dc.subject | Time delay control | - |
dc.subject | Disturbance compensation | - |
dc.subject | Steering wheel angle control | - |
dc.subject.ddc | 621 | - |
dc.title | Time Delay Controller(TDC) Design of Electric Power Steering(EPS) for Lateral Control in Automated Vehicles | - |
dc.title.alternative | 자율주행 차량의 횡방향 제어를 위한 전기식 파워 조향기의 시간 지연 제어기 설계 | - |
dc.type | Thesis | - |
dc.contributor.AlternativeAuthor | Lee, Geesu | - |
dc.description.degree | Master | - |
dc.citation.pages | 33 | - |
dc.contributor.affiliation | 공과대학 기계항공공학부 | - |
dc.date.awarded | 2016-02 | - |
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