Smart Door(SD) is a human friendly power-assisted door system for passenger car doors. It offers comfort and safety to passengers and drivers by supplying additional power. In this study, dynamic system model and the equation of motion derivation are derived. And we propose the disturbance observer based collision detection algorithm for safety when opening the door. A disturbance caused by collision has a fast response compared to a friction, uncertainties and so on. The main idea this study is to estimate a variation of disturbance for stably and effectively detecting a collision. In order to evaluate a performance of collision detection, an experiment set up is constructed. The experimental results validate the usefulness of the proposed collision detection algorithm.

Abstract
 1. 서론
 2. 스마트도어시스템
  2.1 기구메카니즘 설계 및 제작
  2.2 모델링
  2.3 중력보상제어기
 3. 외란관측기기반 충돌감지
 4. 실험결과
 5. 결론
 참고문헌

• 박민규(영남이공대학 기계자동차학부) | Min-Kyu Park
• 성금길(영남이공대학 기계자동차학부) | Kum-Gil Sung
• 이병수(계명대학교 기계자동차공학부) | Byungsoo Lee