Design and Implementation of a DSP-based Path Tracking Controller for an Automated Guided Vehicle
碩士 === 國立交通大學 === 控制工程系 === 84 === The purpose of this thesis is to develop a path tracking controller for anautomated guided vehicle (AGV).It can make an AGV move accurately on the desired path. There are three parts in this thesis : (1) Driving system.U...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
1996
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| Online Access: | http://ndltd.ncl.edu.tw/handle/27390107074848108044 |
| Summary: | 碩士 === 國立交通大學 === 控制工程系 === 84 === The purpose of this thesis is to develop a path tracking
controller for anautomated guided vehicle (AGV).It can make an
AGV move accurately on the desired path. There are three parts
in this thesis : (1) Driving system.Using digital signal
processor(DSP)as a controller,we design a PID servo controller
at the lowest level of motion control system. DSP has floating
point processor in chip. It has an ability for fast data
processing and computation. (2) The designof a path tracking
controller. A control based on the kinematics of vehicle is
sloved by the method of linear quadratic regulator (LQR). The
path tracking controller can be used to eliminate the tracking
error. (3) Sensor. We use an electronic compass as well as
encoders for angle detection. The Kalman filter algorithm is
used to fuse data to estimate the angle. It can eliminate the
position error of slippage.
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