Guidance Control of a Front Wheel Driven Vehicle

• Main Authors: Wen-Terng Tsay, 蔡文騰
• Other Authors: W. W. Kao
• Format: Others
• Language: zh-TW
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/73341210548747201569

碩士 === 國立臺灣科技大學 === 機械工程研究所 === 84 === Traditionally,inertial navigation has been used extensively in vehicle positioning.Recently,the development of GPS positioning has provided free and accurate absolute position information. However,GPS also has large position errors and is subjected to signal available problem for land vehicle applications.On the other hand,INS provides autonomous and continuous position information.However,its position errors are accumulative.The integration of GPS and INS allows us to develope a more accurate and robust positioning system. This thesis emphasizes on the development of an automatic positioning and tracking control system of a front wheel drive vehicle.We have discussed the principle and error characteristics of the GPS and other navigation sensors including Compass, gyroscope and wheel encoders.Kalman filter was designed to integrate GPS and INS to achieve accurate positioning.The kinematic equation of the front wheel driven vehicle is derived based on the assumption of non-slpping wheels and random accelerations.Using nonlinear feedback linearization,we have also designed tracking controllers for the vehicle and performed simulations to investigate the peformance and error characteristics of the controllers.Finally,we proposed the servo and sensor interface design for further hardware implementation of the positioning and tracking control systems.