機車自動駕駛模擬系統之參考模式設計

The Reference Model Design for the Simulated System of Motorcycles Autopilot

魏榮輝(Jong-Hwei Wei) ； 徐博詩(Po-Shih Hsu)

《車輛工程學刊》 4期 (2007/05) Pp. 1-18

https://doi.org/10.30023/JVE.200705.0001

摘要

本文以六軸史都華平台的逆向運動學理論配合PID控制器及Matlab/Simulink軟體建立一個用於採用適應性控制法則的機車自動駕駛模擬系統之參考模式，以改善機車自動駕駛模擬系統閉迴路控制之性能，其目的希望機車自動駕駛模擬系統在機車姿態變動時，可以利用適應性控制法則使模擬系統追蹤參考模式，令模擬系統獲得精確且快速穩定之反應。本文建構之參考模式係具PID控制器之閉迴路控制系統，使機車自動駕駛模擬系統之控制性能(暫態響應之最大超越量與上升時間與穩態響應之穩態誤差)達到所需規格。

關鍵字

自動駕駛 ； 參考模式 ； 逆向運動學

並列摘要

In this paper, the inverse kinematics of the Stewart platform with the Matlab/Simulink software are used to derive the reference input of the reference model.
The reference model of the simulated system of motorcycles autopilot is chosen to improve the uncertainty of the classical PID controller under the road disturbances. The goal of the simulated system of motorcycles autopilot is that the system has the faster and more stable response when the controlled system can be followed the reference model. The reference model of the adaptive autopilot is chosen as a closed-loop system with PID conpensator to achieve the requirement performances of control system, for example, the transient responses (the maxinum overshoot and the rise time) and the steady-state response (steady-state error).

並列關鍵字

Autolilot ； Reference Model ； Inverse Kinematics