控制系统设计与在线预览规划所需的信号

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509299

A. Matsushita, T. Tsuchiya

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引用次数: 3

摘要

介绍了一种三轮车辆期望信号的在线预估规划方法。与传统的离线规划相比，在线规划在减少干扰等因素的影响方面具有优势。该方法采用传统的控制系统设计方法，将在线规划器设计为控制系统的一部分。为了利用期望信号的未来限制，在在线规划中增加了预览规划。在线规划构建了一个反馈循环，而预览规划为其添加了前馈。通过将预览规划与在线规划相结合，规划器可以比不进行预览规划时更好地防止受控变量溢出允许域。将该方法应用于三轮车辆，使车辆在没有预演规划的情况下可以提前开始避障。

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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Control system design with on-line preview planning for desired signals

This paper describes an online preview planning method for desired signals of 3-wheeled vehicles. Online planning has an advantage over the traditional off-line planning in reducing the influence of such factors as disturbance. In the the proposed method, the online planner is designed as a part of the control system by traditional design methods for control systems. Preview planning is added to the online planning in order to utilize the future restriction of the desired signal. Online planning constructs a feedback loop and preview planning adds feedforward to it. By integration of preview planning and online planning, the planner can prevent the controlled variable from spilling over the permitted domain better than without preview planning. This method is applied to a 3-wheeled vehicle, so that the vehicle can start to avoid obstacles earlier than the case without preview planning.

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来源期刊

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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