KLI

H∞제어를 이용한 Anti-lock Brake System의 슬립율 제어 시스템의 설계

Metadata Downloads
Alternative Title
A Design of Slip-ratio Control System of Anti-lock Brake System using H∞Control
Abstract
본 논문에서는 Anti-lock Brake System(ABS)에서 명령추종성능과 견실안정성를 모두 만족하는 제어기를 제안하였다. ABC에서는 슬립율-차체속도와 바퀴의 각속도와의 비율을 제어하여 최적의 제동력으로써 자동차의 방향 안정성을 높이고 짧은 시간 안에 자동차를 정지시키도록 한다. ABC의 제어 시스템은 바퀴와 도?罐? 사이의 접촉특성에 비선형성이 포함되고, 수학적 모델링을 할 때에 모델링 오차에 대하여 크게 영향을 받는다. 본 연구에서는 자동차의 제동특성에 크게 영향을 미치는 바퀴와 도로면 사이의 접촉특성의 변화에 따른 비선형성을 평형점 부근에서 선형화를 실시하고, 공칭모델에 대한 PID제어기 시스템에 모델링 오차에 대하여 견실한 H∞제어기를 설계하므로써 명령추종성능과 견실안정성을 모두 만족하는 제어기를 설계하고자 한다.
This paper proposes the method to perform a linearization of Anti-lock Brake System(ABC) vehicle and to design a controller which has the robust-stability and better command-following-performance under modeling-error from uncertain parameter variation. ABC vehicle, by controling slip ratio, which is body velocity to wheel velocity, can get optimum braking force. For the nominal model PID controller is designed which is used in simple and general cases. Owing to parameter variation, the gain of PID controller have to be newly turned. Consequently, by adding H∞controller on the PID controller, achive the robust-stability and better command-following-performance even though modeling-error from uncertain parameter variation exist.
This paper proposes the method to perform a linearization of Anti-lock Brake System(ABC) vehicle and to design a controller which has the robust-stability and better command-following-performance under modeling-error from uncertain parameter variation. ABC vehicle, by controling slip ratio, which is body velocity to wheel velocity, can get optimum braking force. For the nominal model PID controller is designed which is used in simple and general cases. Owing to parameter variation, the gain of PID controller have to be newly turned. Consequently, by adding H∞controller on the PID controller, achive the robust-stability and better command-following-performance even though modeling-error from uncertain parameter variation exist.
Author(s)
양순용최종환
Issued Date
1999
Type
Research Laboratory
URI
https://oak.ulsan.ac.kr/handle/2021.oak/4101
http://ulsan.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002025360
Alternative Author(s)
Yang,Soon-YongChoi,Jong-Hwan
Publisher
공학연구논문집
Language
kor
Rights
울산대학교 저작물은 저작권에 의해 보호받습니다.
Citation Volume
30
Citation Number
2
Citation Start Page
157
Citation End Page
170
Appears in Collections:
Research Laboratory > Engineering Research
Authorize & License
  • Authorize공개
Files in This Item:

Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.