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Current Result Document :
ÇѱÛÁ¦¸ñ(Korean Title) |
PID Á¦¾î¿Í Kalman ÇÊÅ͸¦ ÀÌ¿ëÇÑ ÀÚµ¿Â÷ Á¤¼ÓÁÖÇà ½Ã½ºÅÛ |
¿µ¹®Á¦¸ñ(English Title) |
Automobile Cruise Control System Using PID Controller and Kalman Filter |
ÀúÀÚ(Author) |
Su Yeol Kim. Pyung Soo Kim
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¿ø¹®¼ö·Ïó(Citation) |
VOL 11 NO. 08 PP. 0241 ~ 0248 (2022. 08) |
Çѱ۳»¿ë (Korean Abstract) |
º» ³í¹®¿¡¼´Â ¿Ü¶õ°ú ÀâÀ½ÀÌ Àִ ȯ°æ¿¡¼ ÀÚµ¿Â÷ Á¤¼ÓÁÖÇàÀÇ °³¼±À» À§ÇØ PID Á¦¾î±â¿Í Kalman ÇÊÅ͸¦ Àû¿ëÇÏ°í ´Ù¾çÇÑ ½Ã¹Ä·¹À̼ÇÀ» ÅëÇØ ¼º´ÉÀ» °ËÁõÇÑ´Ù. ù ¹ø°·Î, ÀÚµ¿Â÷ Á¤¼ÓÁÖÇà ½Ã½ºÅÛÀ» À§ÇÑ ¼öÇÐÀû ¸ðµ¨À» ¼Ò°³ÇÑ´Ù. µÎ ¹ø°·Î, ±âº»ÀûÀÎ °³·çÇÁ Á¦¾î ±â¹Ý Á¤¼ÓÁÖÇà ½Ã½ºÅÛ¿¡ ¿Ü¶õÀ¸·Î ÀÎÇÑ ¼º´É ÀúÇϸ¦ È®ÀÎÇÏ°í À̸¦ °³¼±Çϱâ À§ÇÑ PID Á¦¾î±â ±â¹ÝÀÇ Çǵå¹é Á¦¾î ½Ã½ºÅÛÀÇ ¼º´ÉÀ» °ËÁõÇÑ´Ù. ¼¼ ¹ø°·Î, Çǵå¹é °úÁ¤¿¡¼ ¹ß»ýÇÒ ¼ö ÀÖ´Â ¼¾¼ ÀâÀ½À¸·Î ÀÎÇÑ ¼º´É ÀúÇϸ¦ È®ÀÎÇÏ°í À̸¦ °³¼±Çϱâ À§ÇØ Kalman ÇÊÅ͸¦ Àû¿ëÇÏ¿© ¼º´ÉÀ» °ËÁõÇÑ´Ù. ±Ã±ØÀûÀ¸·Î, PID Á¦¾î±â¿Í Kalman ÇÊÅ͸¦ Àû¿ëÇÏ¿© ¼³°èµÈ Á¤¼ÓÁÖÇà ½Ã½ºÅÛÀÌ ¼º´É ±âÁØÀ» ¸ðµÎ ¸¸Á·ÇÒ »Ó¸¸ ¾Æ´Ï¶ó ¿Ü¶õ°ú ÀâÀ½ Á¦°Å ´É·Â±îÁö ÀÖÀ½À» È®ÀÎÇÒ ¼ö ÀÖ´Ù. |
¿µ¹®³»¿ë (English Abstract) |
In this paper, the PID controller and Kalman filter are applied to improve the automobile cruise control in the environment with disturbance and noise, and the performance is verified through diverse simulation. First, a mathematical model for a automobile cruise control system is introduced. Second, the performance degradation due to disturbance in the basic open-loop control based cruise control system is shown and then PID controller-based feedback control system to resolve this problem is verified. Third, to improve the performance degradation due to sensor noise that may occur during the feedback process, a Kalman filter is applied and verified. Ultimately, it is verified that the designed cruise control system with PID controller and Kalman filter not only satisfies all performance conditions but also has the ability for disturbance rejection and noise reduction. |
Å°¿öµå(Keyword) |
Cruise Control System
Open-Loop Control
Feedback Control
PID Controller
Kalman Filter
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°³·çÇÁ Á¦¾î
Çǵå¹é Á¦¾î
PID Á¦¾î±â
Kalman ÇÊÅÍ
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