- 學位論文
四輪模型車轉向控制器設計及硬體迴路實現
Steering Control Design of Four-Wheel-Steering Model Vehicle with Hardware in the Loop Technique
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摘要
本篇論文的成果在於完成一個四輪轉向模型車(Four-Wheel-Steering Vehicle)的轉向控制器。轉向控制採用RST多項式控制器設計，可根據車速達成方向控制、進而達到能夠自動循指定通過的路徑點的無人駕駛車。 實驗雛型為一部改裝自市售四輪轉向模型車平台。加裝包括超音波測距，慣性導航與GPS定位的感測器，與兩顆微處理器的分佈式電腦系統，能以無線網路遠距離進行控制實驗。 文中根據車體轉向的運動學原理及四輪轉向連桿機構的幾何尺寸，推導出車體與前進速度相關的非線性狀態方程式數學模型；並以實驗測得狀態方程式中個別參數的數值。 在完成的雛型，使用者可利用xPCTarget/Simulink所建立的操作介面，指定任意座標點位置或方位，透過無線網路，下達行進點或行進方向的命令，模型車根據遠端命令及自行開發的GPS慣性導航感測器所傳回的即時資料，修正轉向角度；使用者亦可預作路徑規劃，設定計劃通過之座標點，模型車即可自動依循所設定的座標點行進。 最後該模型車在校園內進行指定行進路徑的無人駕駛實驗。結果證明該系統可以依循指定路徑點，完成航程，達到上述的論文目標。
並列摘要
The achievement of this thesis is to design a steering controller for a four-wheel-steering vehicle. The steering controller is designed by using the RST polynomial pole-placement method with anti-windup. We accomplish directional control according to the speed of vehicle. Furthermore, the unmanned vehicle can pass through preset way points automatically. An experimental model is rebuilt from a commercial model vehicle. We add some sensors including ultrasonic, inertial navigating sensors, a GPS and a magnetic compass on the model vehicle. There are two embedded computer systems on the model vehicle. We use a wireless network for command and data transmission. In this thesis, we have derived the state-space model of the vehicle from the kinematics relation of the steering mechanism of the vehicle. The parameters of the model are obtained experimentally. We can set the XY-coordinate of a way point position by using an interface developed with Simulink/xPCTarget, the forwarding command is transmitted through a wireless network communication channel. The model vehicle adjusts the steering angle according to the remote command and the real-time orientation data from the inertial navigation system. The vehicle can automatically pass pre-defined way points. At last we have made an unmanned driving experiment with the model vehicle on preset way points in the Yuan-Ze University campus to verify that the control system automatically follows commands to accomplish the goal of this thesis.
參考文獻
[1] Dan wei Wang, Feng Qi, “Trajectory Planning for a Four-Wheel-Steering Vehicle,” IEEE International Conference on Robotics and Automation, Vol. 4, 2001, pp.3320-3325.
[2] A. Hemami, “A Control Scheme for Low Speed Automated Vehicles with Double Steering,” Proceedings of the 33rd IEEE Conference on Decision and Control, Vol. 3, 14-16 Dec. 1994, pp.2452-2454.
[3] Chiu-Feng Lin, A.G. Ulsoy, “Vehicle Dynamics and External Disturbance Estimation for Future Vehicle Path Prediction,” Proceedings of the American Control Conference, Vol. 1, 21-23 June 1995, pp.155-159.
[5] G.G. Wang, S.H. Wang, C.W. Chen, “Design of Turning Control for A Tracked Vehicle,” Control Systems Magazine, IEEE, Vol. 10, No.3, April 1990, pp.122-125.
[6] Seong Jae Hong, Ju Yong Choi, Young Il Jeong, Kum Young Jeong, Man Hyung Lee, Kyeong Taik Park, Kang Sup Yoon, Nam Su Hur, “Lateral Control of Autonomous Vehicle by Yaw Rate Feedback,” Proceedings of the IEEE International Symposium on Industrial Electronics, Vol. 3, 12-16 June 2001, pp.1472-1476.