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S t A l iSystem Analysis
Spring 2008
Professor Kyongsu Yi©2008 VDCL©2008 VDCL
Vehicle Dynamics Control LaboratoryDepartment of Mechanical and Aerospace Engineering
Seoul National University
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Introduction
Instructor: Professor Kyongsu YiInstructor: Professor Kyongsu Yi
301-1204
l 880 19 1 l k @ kTel: 880-1941 Email:[email protected]
http://vdcl.snu.ac.kr
Lectures: Tu/Th 10:30-11:45 @301-105
Office hours: We 2:00 to 3:00 or by appointment
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Reference: System Dynamics, Fourth Ed., Ogata, 2004 Pearson Prentice Hall
Objecti e To pro ide basic concepts an o er ie of d namic s stem modelingObjective: To provide basic concepts, an overview of dynamic system, modeling,
analysis methods and applications to engineering systems
Mathematical model, analysis in the frequency and time domains and
prediction of the dynamics of systems
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Grading: Homework 15%, Class attendance 10%
Midterm Exam 30%, Final exam 45%
Students absent in a class without instructor’s
permission prior to the class would be failed.
Homework: Students will turn in before the end of the class on the due dateHomework: Students will turn in before the end of the class on the due date.
Late homework will not be accepted.
All h k i b l dAll homework assignments are to be completed on your own.
You are allowed to consult with other students during
the conceptualization of a problem but all written and
programming work are to be generated by yourself.
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Exam : 75-minute midterm exam
on April 22 (Tu) 10:30-11:45
90 minute final exam90-minute final exam
on June 10 (Tu) 10:30-12:00
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Major Course ContentsPart 1: Introduction
Introduction, Concepts, TerminologyIntroduction, Concepts, Terminology
Part 2: Laplace Transform
Laplace Transform
P 3 M d liPart 3: Modeling
Mathematical Model of Dynamic Systems
Transfer Function Approach to Modeling Dynamic Systems
State space Approach to Modeling Dynamic Systems
Electrical Systems
Fluid Systems and Thermal Systems
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Major Course Contents (contd.)
Part 4: AnalysisPart 4: Analysis
Time Domain Analysis of Dynamic Systems
Fi t O d / S d O d S tFirst Order / Second Order Systems
Transient Analysis
Analysis with MATLAB
Frequency Domain Analysis of Dynamic Systems
Understanding the underlying physics and being able to construct models ofUnderstanding the underlying physics and being able to construct models of
dynamic systems to analyze (and,) predict (and control) engineering systems
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SystemsSystems
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Aircraftc a
NASA x-29 forward swept Airbus A320NASA x-29 forward swept wing aircraft
bus 3 0
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UnstableU s a e
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MAGLEV (Magnetic Levitation) Vehicle
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MAGLEV (Magnetic Levitation) Vehicle
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Full-range ACC/CA
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• Autonomous Driving: Adaptive Cruise Control with Collision Avoidance
ACC/CA Vehicle
Multi-Target Detection
ACC/CA Vehicle
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AUTOMATED HIGHWAY SYSTEMS (AHS)( )
AHS lanes will have three times the capacity of regularAHS lanes will have three times the capacity of regular highway lanes - Vehicles will travel together in closely-packed “platoons”.
15Dedicated to automated vehicles - regular passenger cars will have to be specially instrumented to travel on AHS lanes.
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EV Autonomous Driving using Human Driver Model
fi i• System Configuration
EPS d lHuman Driver Model
EPS module (360º/sec) Absolute Encoder IMU sensor
ㆍSteering Controller desired Steering Angle
ㆍSpeed Controller Input Vlotage
Driving module(0~40Km/h)
Actuator
Test Vehicle ( Electric Vehicle)
Plant Vehicle Sensor
Laser RadarYaw rate sensorVehicle Controller
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Vehicle Tests
• Lane Following • Lane Following + ACC
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Vehicle Control Systemse c e Co o ys e s
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ESP (Electronic Stability Program)
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Unified Chassis Control (UCC)
α0
vVWheel
- Vehicle Lateral Motion (Dynamic Equations)
0
δWh
FS=FR (λ=0)
FS(λ0)
( ) cos sinx y xr xf f yf fm v v F F Fγ δ δ− = + −&
( ) cos siny x yr yf f xf fm v v F F Fγ δ δ+ = + −&FS
a
( )
λFR(λ0)FB(λ0)
λ0FR(λ=1)
( )y x yr yf f xf fγ
cos sin ...z f yf f r yr f xf fI l F l F l Fγ δ δ= − −&
dMyaw(λ0)
y
xl(λ=0)
Myaw(λ=0)
( cos )2 xr xf fd F F δ+ Δ +Δ
l(λ0)
b
FS FS
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V hi l St bilit C t l S tVehicle Stability Control SystemsSteering wheel
Brake Pedal
Wheel
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Electric Power Steering (EPS)/A ti F t St i (AFS)(EPS)/Active Front Steering (AFS)
Electric Power Assist SteeringElectric Power Assist Steering
Active Front Steering AFS (control motor/Planetary Gear)
: Delphi AFS-a prototype for Cadillac CTS: Delphi AFS a prototype for Cadillac CTS
: New BMW 5 series ’04 (by ZF Lenksysteme)
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Vehicle Stability Control
M/C Pressure Steering angle Yaw-G
Unified Chassis Control (UCC)
Body G
/C essu e a G
CDC ECU
Wh l dWheel G Wheel speed
AFS ECU
ESP ECU
CDC
AFSESC
CDC
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ESC
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Integrated Chassis Control
Brake ControlSteering Control
Suspension Control
VEHICLE
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Vehicle Rollover Mitigation
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Schematic Diagram of RMC
ˆ̂ˆ,φ φ&
ya, , ,y s ua z zγ && &&
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Rollover Prevention
NHTSA fishhook Simulation (CARSIM & MATLAB)
• Without RMC • With RMC
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Military Robot : 견마로봇(A t V hi l )(Autonomous Vehicle)
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SystemsSystemsAn aircraftA head positioner for a computer hard diskA vehicleA vehicleAn engine/transmission/brake/ steering/ suspension systems An electric rice cookerAn excavatorAn excavatorA room air conditionerA refrigeratorElectric power plantp pRobotsChemical and Manufacturing Process Control: temperature; pressure; flow
rate; concentration of a chemical; moisture contents; thickness.
…………..
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