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Speed Tracking Control of a Vehicle Robot Driver System Using Multiple Sliding Surface Control Schemes, in: International Journal of Advanced Robotic Systems |
Deschide documentul
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Informaţii generale |
| Autor |
Chen, Gang; Zhang, Wei-gong; Zhang, Xiao-na |
| Publicat |
InTech Open Access Publisher, 2013
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| Abstract |
To overcome the drawbacks of using a traditional
proportional‐integral‐derivative (PID) control method for a
robot driver system, such as requiring preliminary offline
learning, big overshoot and large speed fluctuation, a
new method for speed tracking of a robot driver system
based on sliding mode control is proposed in this paper.
Firstly, the coordinated control model of multiple
manipulators for the robot driver is built, which achieved
coordinated control of the throttle mechanical leg, clutch
mechanical leg, brake mechanical leg and shift mechanical
arm for the robot driver. On the basis of this, a speed
tracking sliding mode controller for a vehicle robot driver
is designed using the method of multiple sliding surfaces
design, and the variable structure control laws of throttle
and brake are designed respectively, which realize the
speed tracking of the given driving test cycle. Experimental
results demonstrate that compared with the PID control
method, the proposed method can obviously reduce the
overshoot of vehicle speed tracking control and greatly
improve the accuracy of vehicle speed tracking. The
vehicle speed tracking accuracy stays within a tolerance
band of ±2 km/h, which meets the requirements of
national vehicle test standards. Furthermore, the action of
the speed tracking control in the same driving test cycle
using the proposed method is consistent, so that the robot
driver has good repeatability. Therefore, it can ensure the
effectiveness of the vehicle emission test. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004
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