自动制导车辆的数字控制

1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467) Pub Date : 1999-10-18 DOI:10.1109/ETFA.1999.813164

J. Quevedo, E. Garrido, F. Rodríguez, J. C. Hernández, J. Cugueró, B. Morcego

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引用次数: 1

摘要

本文研究了一种四轮自动驾驶汽车的数字控制设计，每个车轮有两个独立的运动。该车辆由CERTAP(制造先进技术参考中心)联盟设计。每个航向轮有两个版本的数字控制:一个传统的数字滤波器+ PID控制器和一个模糊控制器，使用两个输入(航向误差及其速率)和一个输出(伺服放大器的扭矩设定点的变化)。PID位置控制用于驱动四个轮子中的一个，其控制作用是所有其他驱动伺服放大器的扭矩设定点。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Digital control of an autonomous guided vehicle

The paper deals with the digital control design of an autonomous vehicle of a four wheeled vehicle with two independent movements per wheel. This vehicle has been designed by CERTAP (Reference Center for Manufacturing Advanced Technologies) Consortium. There are two versions of digital control of each course wheel: a conventional digital filter + PID controller and a fuzzy controller using two inputs (the error of the course and its rate) and one output (the variation of the torque set-points of the servo-amplifiers). A PID position control is used to drive one of the four wheels, and its control action is the torque set-point for all the other drive servo-amplifiers.

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1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)

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