Abstract: A control system for operating an air vehicle for urban air mobility (UAM) is arranged such that when a steering operation for a steering wheel and a stroke operation for an accelerator pedal and a brake pedal are performed for operating the air vehicle for UAM, haptic feedback providing notification of any operational limitations is provided to a driver, so that operation stability and convenience of the driver are secured and stable steering, acceleration, and deceleration of the air vehicle are performed.

Abstract: A steering control method and apparatus of a motor-driven power steering system, ma include setting, by a controller, a virtual steering model including a reaction force apparatus provided between a steering wheel and a rack gear; inducing, by the controller, a state equation for the virtual steering model, the state equation representing momentum of the steering wheel, the reaction force apparatus, and the rack gear as state variables of the state equation; determining, by the controller, target steering torque acting in the reaction force apparatus through numerical integration of the state equation; and feedback-controlling, by the controller, a steering motor control amount to the motor-driven power steering system to bring a steering torque of the motor-driven power steering system into agreement with the target steering torque.

Abstract: A steering control method and apparatus of a motor-driven power steering system, ma include setting, by a controller, a virtual steering model including a reaction force apparatus provided between a steering wheel and a rack gear; inducing, by the controller, a state equation for the virtual steering model, the state equation representing momentum of the steering wheel, the reaction force apparatus, and the rack gear as state variables of the state equation; determining, by the controller, target steering torque acting in the reaction force apparatus through numerical integration of the state equation; and feedback-controlling, by the controller, a steering motor control amount to the motor-driven power steering system to bring a steering torque of the motor-driven power steering system into agreement with the target steering torque.

Abstract: Disclosed is a loop linked smart morphing actuator. The actuator includes a first area morphed in a first pattern and a second area morphed in a second pattern according to an external signal. The first area includes a first unit cell morphed in a first direction. The second area includes a second unit cell morphed in a second direction. The first unit cell and the second unit cell may be configured in a loop type knit structure. The second direction is opposite to the first direction, the second pattern is a pattern which has a symmetrical relationship with the first pattern and is provided opposite to the first pattern. In regard to a structure or a shape, provided is an actuator including a knit structure for realizing various driving forms which cannot be predicted through predetermined first and second patterns or a simple combination thereof.

Abstract: Disclosed is a method of controlling a motor driven power steering system (MDPS). The method includes multiple operations including a torque sensor failure determining operation of determining failure of the torque sensor according to existence of a torque sensor signal input from the torque sensor; a control module calculating operation of, when it is determined that the torque sensor has failure, receiving control signals from a steering angle sensor and a motor angle sensor and calculating a plurality of control modules including a basic assist generating module, an assist maintaining module, and an overshoot preventing module; and an MDPS motor driving operation of driving a motor of the MDPS based on motor torque calculated through the control module.

Abstract: A motor control system is provided for compensating disturbance. The system includes a controller that supplies an input voltage to a motor based on the difference between a current command value to a motor and an actual current of the motor. A motor modeling part outputs a motor output current based on an input voltage from the controller and a disturbance observation part is formed as a reverse model of the motor modeling part to remove current noise using a current differentiation filtering method. Additionally, a disturbance compensation amount determination part determines a disturbance compensation amount based on the disturbance estimated by the disturbance observation part.

Abstract: A system for compensating for disturbance of a motor for motor driven power steering is provided. The system for compensating for disturbance of a motor for motor driven power steering compensates for the disturbance based on a closed loop based input value prediction model unit, separately predicts an input value from a command by a closed loop based input value prediction model unit, and compensates for disturbance in accordance with a desired disturbance frequency band when there is a difference between the predicted input value and an input value error-compensated by a feedback controller.

Abstract: A device for controlling restoration of a motor driven power steering (MDPS) system may include a controller configured to control an MDPS system model to output a target steering column speed command corresponding to a restoration control torque command based on a received error between a target steering column speed and an actual steering column speed, and a disturbance observer configured to compensate for a disturbance included in an output of the MDPS system model to provide the disturbance to an output of the controller, in which the output of the MDPS system model may be fed back to an input of the controller.

Abstract: Disclosed is a method of controlling a motor driven power steering system (MDPS). The method includes multiple operations including a torque sensor failure determining operation of determining failure of the torque sensor according to existence of a torque sensor signal input from the torque sensor; a control module calculating operation of, when it is determined that the torque sensor has failure, receiving control signals from a steering angle sensor and a motor angle sensor and calculating a plurality of control modules including a basic assist generating module, an assist maintaining module, and an overshoot preventing module; and an MDPS motor driving operation of driving a motor of the MDPS based on motor torque calculated through the control module.

Abstract: A failure detection apparatus and method of the MDPS may include a configuration that determines a failure of the MDPS in accordance with a vehicle speed, a steering torque, steering angle, a motor torque, and an estimated yaw rate, and when it is determined that the MDPS breaks down, additionally determines the type of failure.

Abstract: Disclosed is a loop linked smart morphing actuator. The actuator includes a first area morphed in a first pattern and a second area morphed in a second pattern according to an external signal. The first area includes a first unit cell morphed in a first direction. The second area includes a second unit cell morphed in a second direction. The first unit cell and the second unit cell may be configured in a loop type knit structure. The second direction is opposite to the first direction, the second pattern is a pattern which has a symmetrical relationship with the first pattern and is provided opposite to the first pattern. In regard to a structure or a shape, provided is an actuator including a knit structure for realizing various driving forms which cannot be predicted through predetermined first and second patterns or a simple combination thereof.

Abstract: A system for compensating for disturbance of a motor for motor driven power steering is provided. The system for compensating for disturbance of a motor for motor driven power steering compensates for the disturbance based on a closed loop based input value prediction model unit, separately predicts an input value from a command by a closed loop based input value prediction model unit, and compensates for disturbance in accordance with a desired disturbance frequency band when there is a difference between the predicted input value and an input value error-compensated by a feedback controller.

Abstract: Disclosed are a control system and a control method for fail safety of a motor driven power steering (MDPS). The system may include a straight motion/turning determination module for determining whether a vehicle is in a straight motion or turning based on a steering angle of a steering wheel, a steering torque of the steering wheel and a vehicle speed of the vehicle, a fail determination module for determining whether an MDPS fail occurs based on a steering torque of a driver and a motor torque of the MDPS if the vehicle is in the straight motion, a fail type determination module for determining a type of the MDPS fail using a yaw rate change rate if the MDPS fail occurs, and a yaw rate change rate detection module for inputting the yaw rate change rate to the fail type determination module.

Abstract: A motor control system is provided for compensating disturbance. The system includes a controller that supplies an input voltage to a motor based on the difference between a current command value to a motor and an actual current of the motor. A motor modeling part outputs a motor output current based on an input voltage from the controller and a disturbance observation part is formed as a reverse model of the motor modeling part to remove current noise using a current differentiation filtering method. Additionally, a disturbance compensation amount determination part determines a disturbance compensation amount based on the disturbance estimated by the disturbance observation part.

Abstract: A method of detecting a deviation of a travel path of a vehicle, may include a first step of determining whether a steering torque of a driver and a motor torque of a motor driven power steering apparatus have different directions, a second step of determining whether the vehicle travels at a predetermined speed or higher, a third step of determining whether the motor torque has a predetermined magnitude or larger, and a fourth step of determining whether a change rate of a yaw rate may be a predetermined value or less.

Abstract: A failure detection apparatus and method of the MDPS may include a configuration that determines a failure of the MDPS in accordance with a vehicle speed, a steering torque, steering angle, a motor torque, and an estimated yaw rate, and when it is determined that the MDPS breaks down, additionally determines the type of failure.

Abstract: Disclosed are a control system and a control method for fail safety of a motor driven power steering (MDPS). The system may include a straight motion/turning determination module for determining whether a vehicle is in a straight motion or turning based on a steering angle of a steering wheel, a steering torque of the steering wheel and a vehicle speed of the vehicle, a fail determination module for determining whether an MDPS fail occurs based on a steering torque of a driver and a motor torque of the MDPS if the vehicle is in the straight motion, a fail type determination module for determining a type of the MDPS fail using a yaw rate change rate if the MDPS fail occurs, and a yaw rate change rate detection module for inputting the yaw rate change rate to the fail type determination module.

Abstract: A device for controlling restoration of a motor driven power steering (MDPS) system may include a controller configured to control an MDPS system model to output a target steering column speed command corresponding to a restoration control torque command based on a received error between a target steering column speed and an actual steering column speed, and a disturbance observer configured to compensate for a disturbance included in an output of the MDPS system model to provide the disturbance to an output of the controller, in which the output of the MDPS system model may be fed back to an input of the controller.

Abstract: Disclosed is an underwater robot based on flapping comprising: an actuator including a smart material and directional material, wherein the smart material is changed in its shape according to an external signal, and the directional material restricts a deformation in a specific direction; a body connected with the actuator; and a controller which makes the actuator perform a first stroke in a direction, and a second stroke in another direction being different from that of the first stroke; wherein the actuator performs at least one deformation of bending and twisting according to position of the smart material and directionality of the directional material, and furthermore enables to simultaneously perform the smooth bending and twisting motion with the simple structure by adjusting the position of the smart material functioning as the active component, and the directionality of the directional material functioning as the passive component.

Abstract: A method of detecting a deviation of a travel path of a vehicle, may include a first step of determining whether a steering torque of a driver and a motor torque of a motor driven power steering apparatus have different directions, a second step of determining whether the vehicle travels at a predetermined speed or higher, a third step of determining whether the motor torque has a predetermined magnitude or larger, and a fourth step of determining whether a change rate of a yaw rate may be a predetermined value or less.