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

Introduction

Instructor: Professor Kyongsu YiInstructor: Professor Kyongsu Yi

301-1204

l 880 19 1 l k @ kTel: 880-1941 Email:kyi@snu.ac.kr

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

1111

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.

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

2323

ESC

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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