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[자동제어] 카메라 사용 자동브레이크시스템에 대한 자료입니다.
목차
Contents
1. Introduction
2. Purpose of Design
3. Block Diagram
4. Mathematical Modeling
➀ Actuator (Motor)
➁ Plant (Automobile)
5. Controller Design
➀ P controller
1) Analysis
ⅰ, Equation
ⅱ, Steady State Error
ⅲ, Stability
2) Root Locus
3) Transient Response
4) Frequency Response Analysis
ⅰ, Bode Plot
ⅱ, Polar Plot (Nyquist Plot)
ⅲ, Nichols Plot
➁ PI controller
➂ PD controller
➃ PID controller
6. Conclusion
7. References
본문내용
ⅲ, Nichols Plot
➁ PI controller
1) Analysis
ⅰ, Equation
ⅱ, Steady State Error
ⅲ, Stability
20
3.75K
1
3.75K
3.75K-20-3.75K
0
3.75K
k0
K 값은 존재하지 않는다.
2) Root Locus
P controller일 때와 마찬가지로
PI controller일 경우
를 만족하는 근의 값이 존재하지 않는다.
>> n=[3.75 3.75];
>> d=[20 1 0 0];
rlocus(n,d);grid on; hold on
>> sgrid([0.5 0.6 0.7 0.8],[])
3) Transient Response
참고문헌
7. References
1) 참고한 인터넷 URL
-http://www.autopartslib.com/2010/04/11/car/2007-pontiac-g5-rear-brake-assembly-schematic-diagram (브레이크의 기계적 구조)
-http://trendy.nikkeibp.co.jp/article/pickup/20100514/1031784/ (ABS에 관한 설명)
http://ycano.tistory.com/35 (ABS에 관한 설명)
-http://blog.daum.net/_blog/BlogTypeView.do?blogid=0Anw2&articleno=17344567#ajax_history_home (ABS에 관한 설명)
-http://blog.naver.com/ksj2061055?Redirect=Log&logNo=110080194358 (브레이크의 기계적 구조)
-http://ja.wikipedia.org/wiki/%E3%82%B9%E3%83%86%E3%83%AC%E3%82%AA%E3%82%AB%E3%83%A1%E3%83%A9 (스테레오카메라)
-http://www.jwkang7.wo.to/ (자동차 전체 구조)
-http://www.google.co.kr/search?hl=ko&newwindow=1&q=Automatic+braking+system-block+diagram&aq=f&aqi=&aql=&oq=&gs_rfai= (브레이크 이미지)
2) 참고도서
1. Modern Control Engineering [Ogata,Pearson International]
2. Automatic control systems [Kuo,Prentice Hall]
3. 알기쉬운 자동제어 [김원배 등,동일출판사]
4. MATLAB 공학응용 [William J Plam]
3) 참고논문
1. Preview control of random response of a half-car vehicle model traversing rough road [L.V.V. Gopala Raoa and S. Narayanan, 2007]
2. Evaluation of the General Motors based car-following models and a proposed fuzzy inference model [Partha Chakrobortya and Shinya Kikuchi, 1998]
3. Vehicle longitudinal brake control using variable parameter sliding control [ Hong Liang, Kil To Chong, , Tae Soo No and Soo-Yeong Yi, 2002]
4. Effects of damping on brake squeal coalescence patterns – application on a finite element model
Guillaume Fritza, b, Jean-Jacques Sinoub, Jean-Marc Duffala and Louis Jézéquelb
4) 2010학년도 2학기 자동제어 수업 강의자료