실내 자동차 시험의 자동화를 위한 페달 로봇의 제어

초록

Recently, the harshness of human tests performed on an indoor chassis dynamometer has increased due to the introduction of long-term test methods such as single-charge driving range tests and real-road emission tests for electric vehicles. In order to automate these tests, a pedal robot with a shorter installation time than existing robots was developed. In this study, a pedal robot with three degrees of freedom that alternately presses the brake pedal and the accelerator pedal, similar to a human driver, was manufactured and controlled. A controller robust to external disturbances such as brake braking and gear shifting was configured using feedforward control together with PID control, and tests were performed, and it showed evaluation indices equal to or superior to those of an experienced person.