Independent wheel control system design for highly automated driving

2021 ◽  
pp. 095440702110065
Author(s):  
Shihuan Li ◽  
Lei Wang
Keyword(s):  
Control System ◽  
Control Method ◽  
Autonomous Driving ◽  
Control System Design ◽  
Steering Control ◽  
Automated Driving ◽  
Accuracy And Precision ◽  
Actual Observation ◽  
Control Scheme ◽  
Interference Measurement

For L4 and above autonomous driving levels, the automatic control system has been redundantly designed, and a new steering control method based on brake has been proposed; a new dual-track model has been established through multiple driving tests. The axle part of the model was improved, the accuracy of the transfer function of the model was verified again through acceleration-slide tests; a controller based on interference measurement was designed on the basis of the model, and the relationships between the controller parameters was discussed. Through the linearization of the controller, the robustness of uncertain automobile parameters is discussed; the control scheme is tested and verified through group driving test, and the results prove that the accuracy and precision of the controller meet the requirements, the robustness stability is good. Moreover, the predicted value of the model fits well with the actual observation value, the proposal of this method provides a new idea for avoiding car out of control.

Design and Implementation of Large-Scale Temperature Stability Control System

2014 ◽  
Vol 644-650 ◽  
pp. 313-316
Author(s):  
Wen Lai Liu
Keyword(s):  
Control System ◽  
System Design ◽  
Large Scale ◽  
Control Method ◽  
Temperature Stability ◽  
Stability Control ◽  
Control System Design ◽  
Scale Temperature ◽  
Stability Control System ◽  
The Stability

large-scale temperature stability control method is studied in this paper. In the process of large-scale temperature control, the stability of control is a very important indicator. To this end, this paper proposes a large-scale temperature stability control algorithm based on hierarchical control method. Balance equation of large-scale temperature stability control is created for the effective transmission of control data. According to the constant control theory, large-scale temperature stability control system design is achieved. Experimental results show that the proposed algorithm for large-scale temperature stability control system design, can greatly improve the stability of control, and get the satisfactory results.

High Altitude Airship Flight Control System Design and Simulation

2011 ◽  
Vol 128-129 ◽  
pp. 142-145
Author(s):  
Yong Hua Fan ◽  
Xin Li ◽  
Yun Feng Yu
Keyword(s):  
Control System ◽  
High Altitude ◽  
System Design ◽  
Flight Control ◽  
Control System Design ◽  
Flight Control System ◽  
Compound Control ◽  
Control Scheme ◽  
Self Tuning

The high altitude airship can not have desired performance to control the altitude rapidly and accurately when the elevator or ancillary air bursa charge or deflation is used only, because the elevator has little efficiency when the velocity is low and auxiliary air bursas charge or deflation control is very slow. It is present a method to design flight control system for a high altitude airship using auxiliary air bursas charge or deflation and elevator combination control. This combination control scheme is that the ancillary air bursa and elevator are also used to control the airship attitude to get large raise velocity and the ancillary air bursa control is used to adjust the airship altitude for suspension. In this paper, a high altitude airship model with compound control of elevator and ancillary air bursa charge and deflation is given firstly. Then the combination controller is designed by using fuzzy self-tuning control. Finally, it has been proved by simulation that the flight control system has desirable performance and the compound control scheme is feasible.

JIT Quality Control System Design Based on Simultaneous Engineering

2011 ◽  
Vol 110-116 ◽  
pp. 4872-4875
Author(s):  
Yin Ying Yang ◽  
Zi Qi Xu
Keyword(s):  
Quality Control ◽  
Control System ◽  
System Design ◽  
Control Method ◽  
Quality Control System ◽  
Control System Design ◽  
Control Analysis ◽  
Quality Control Analysis ◽  
Quality Control Method ◽  
Simultaneous Engineering

The thesis based on a car engine plant, analyzing the promotion for the introduction of JIT quality control system. Compare the Simultaneous engineering method with traditional JIT quality control method in terms of quality control. Analysis shows that the accumulate material waste ratio during the production process has decreased significantly by using the Simultaneous engineering method.Keywords-component; formatting; style; styling; insert (key words)

A Study on μ-Synthesis Control for Four-Wheel Steering System to Enhance Vehicle Lateral Stability

2010 ◽  
Vol 133 (1) ◽  
Author(s):  
Guo-Dong Yin ◽  
Nan Chen ◽  
Jin-Xiang Wang ◽  
Ling-Yao Wu
Keyword(s):  
Control System ◽  
Experimental Tests ◽  
Steering System ◽  
Hardware In The Loop ◽  
Steering Control ◽  
Robust Controller ◽  
Control Scheme ◽  
Parameter Variations ◽  
Good Vehicle ◽  
Selection Of

This paper presents the design of μ-synthesis control for four-wheel steering (4WS) vehicle and an experimental study using a hardware-in-the-loop (Hil) setup. First, the robust controller is designed and the selection of weighting functions is discussed in the framework of μ-synthesis control scheme, considering the varying parameters induced by running vehicle condition. Second, in order to investigate the feasibility of the four-wheel steering control system, the 4WS vehicle control system is built using dSPACE DS1005 platform. The experimental tests are performed using the Hil setup which has been constructed using the devised rear steering actuating system. The dynamics performance is evaluated by experiment using the Hil setup under the condition of parameter variations. Finally, experimental results show that the μ-synthesis controller can enhance good vehicle lateral maneuverability.

scholarly journals Study on Roller-Walker – Multi-mode Steering Control and Self-Contained Locomotion –

2000 ◽  
Vol 12 (5) ◽  
pp. 559-566 ◽  
Author(s):  
Gen Endo ◽  
◽  
Shigeo Hirose
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Constant Velocity ◽  
Control Method ◽  
Light Weight ◽  
Steering Control ◽  
Rugged Terrain ◽  
Hybrid Function ◽  
And Control ◽  
Multi Mode

We have proposed a new leg-wheel hybrid mobile robot named ""Roller-Walker"". Roller-Walker is a vehicle with a special foot mechanism, which changes to a sole in walking mode and a passive wheel in skating mode. On rugged terrain the vehicle walks in leg mode, and on level or comparatively smooth terrain the vehicle makes wheeled locomotion by roller-skating using the passive wheels. The characteristics of Roller-Walker are: 1) it has a hybrid function but it is light-weight, 2) it has the potential capability to exhibit high terrain adaptability in skating mode if the control method for roller-wolfing is fully investigated in the future. In this paper, the 4 leg trajectory of straight Roller-Walk is optimized in order to achieve maximum constant velocity. Also steering roller-walk control method is proposed. It is obtained by the expansion of the straight roller-walk trajectory theory adding an offset to the swinging motion. This steering method resembles that of a car. The control system was modified into an untethered system, and control experiments were performed. The realization of the steering motion was verified by them.

A novel tracking control method for the distributed-drive and active-steering articulated virtual rail train

2021 ◽  
pp. 095965182110274
Author(s):  
Dehua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yao Cheng
Keyword(s):  
Control System ◽  
Data Storage ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Generation ◽  
Front Axle ◽  
Steering Control ◽  
Differential Distribution ◽  
Target Trajectory ◽  
Active Steering

To realize the running control of distributed-drive and active-steering articulated virtual rail trains travelling on urban roads under non-contact virtual rail constraints, target trajectory generation and active-steering control are crucial issues. In this article, a novel tracking control method is proposed, which includes a dynamic target trajectory generation and a new active-steering tracking control system. First, a distributed-drive and active-steering articulated virtual rail train kinematics model with n-sections is derived, and then a new target trajectory generation method is proposed using data filtering and compression, coordinate transformation and spline difference, and the simulation comparison shows that the proposed method has less data storage space and high computational efficiency. Second, a new active-steering tracking control system composed of a rear axle preview active-steering controller, a front axle coordinated steering controller, and a differential-distribution controller is designed to achieve tracking control and coordinated movement of distributed-drive and active-steering articulated virtual rail train. Finally, a distributed-drive and active-steering articulated virtual rail train simulation model was constructed in ADAMS, and then simulations are performed under three rail conditions and compared with the other two methods, which show that the proposed method has good tracking control accuracy, adaptability, and superiority under various rails and different speeds.

A Practical Control Scheme for Autonomous Capture of Free-Flying Satellites by Space Robotic Manipulator based on Predictive Trajectory

2000 ◽  
Vol 12 (4) ◽  
pp. 385-393
Author(s):  
Hiroyuki Nagamatsu ◽  
◽  
Takashi Kubota ◽  
Ichiro Nakatani
Keyword(s):  
Control System ◽  
Time Delay ◽  
Degrees Of Freedom ◽  
Processing Time ◽  
Control Method ◽  
Poor Performance ◽  
Reference Trajectory ◽  
End Effector ◽  
Control Scheme ◽  
Target Satellite

This paper describes a practical control scheme for autonomous capture of a free-flying satellite in space using an onboard manipulator. In capturing a satellite, a reference trajectory for control of a manipulator is generated with a time delay due to the processing time of a target motion estimator and a manipulator controller. Consequently, the control system shows poor performance and the end-effector sometimes fails to capture the target satellite. To solve this problem, a control system is proposed that utilizes predictive trajectory based on target satellite dynamics. The validity and usefulness of the proposed control method are shown by computer simulations and experiments using a 3-D hardware simulator with 9 degrees of freedom.

Embedded Arm-Based Control System Design for Automatic Strapping Machines

2014 ◽  
Vol 687-691 ◽  
pp. 3153-3157
Author(s):  
Jiang Ping Huang ◽  
Zheng Dong Wang ◽  
Wen Ze Yu ◽  
Kai He ◽  
Ru Xu Du
Keyword(s):  
Control System ◽  
System Design ◽  
Control Method ◽  
General Structure ◽  
Control System Design ◽  
Electronic Components ◽  
Simple Operation ◽  
The Core ◽  
Arm Microprocessor ◽  
Working Performance

A design of an embedded ARM-based control system for automatic strapping machine is described. This control system uses embedded ARM microprocessor as the core processor, which consists of a STM32 ARM chip and other electronic components. It introduces the general structure, the control method and the implementation of the control system in this paper. The system has many advantages, such as simple and reasonable circuit, stable working performance, simple operation, etc.

A UAV Longitudinal Control System Design Based on QFT

2015 ◽  
Vol 713-715 ◽  
pp. 726-729
Author(s):  
Chen Yong ◽  
Jin Yong Yu ◽  
Chun Ping Zhang ◽  
Hong Wei Ma
Keyword(s):  
Control System ◽  
Robust Design ◽  
Control Method ◽  
Engineering Application ◽  
Design Procedure ◽  
Model Parameters ◽  
Control System Design ◽  
Control Effect ◽  
Longitudinal Control ◽  
Parameters Uncertainty

In this paper, the basic principle and design procedure of the quantitative feedback theory (QFT) are summarized, then control system of a UAV is designed with the QFT theory. The QFT theory can solve the robust design problem of the UAV control system due to the model parameters uncertainty perfectly. And a method of robust design for UAV is put forward from engineering application perspective. Compared with traditional control method, the simulation result shows that the control system designed by the QFT theory not only has more perfect control effect but has significant value in the engineering application.

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