Abstract
본 논문에서는 자계기반 무인주행 차량을 위한 조향장치를 설계하고 개발하였다. 자계기반 무인주행 시스템에서 가장 중요한 것은 자계도로를 따라 주행할 때 차량의 방향을 제어하는 조향장치이다. 본 논문에서는 조향각 제어를 위해 조향제어장치의 메커니즘을 설계하고 스텝모터의 속도 제어를 위해 새로운 속도 추종 주파수 제어 방법을 적용하였다. 개발된 조향장치의 실용성을 입증하기 위하여 개발된 시스템을 자계기반 무인주행 차량에 적용하고 주행실험을 수행하고 분석하였다. In this paper, a steering actuator is designed and developed for an unmanned vehicle based on magnetic marker. One of the most important component of an unmanned vehicle is a steering actuator to follow magnetic road. Thus, we develop a steering actuator using a stepping motor and adopt to a new frequency control method depended on speed of the vehicle. In order to verify the usability of the developed system, the setup of unmanned vehicle installed the designed steering actuator is tested on magnetic road.
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