| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 87 === Recently GPS are more and more used in many applications. The precision of GPS positioning could be improved by many signal processing algorithms. With carrier-phase positioning used in this thesis, the precision could come up to centimeter level. Along with the advantage of the absolute positioning ability provided by the system, GPS could now provide accurate measurement data for many dynamic control applications.
In this thesis, GPS carrier-phase positioning is used to measure the dynamics of a remote control toy car. A PIC16C84 microcontroller is used to generate control signal for the servo motor of the car. Assuming no skid condition, dynamic model of the toy car is derived. GPS positioning signals is then used to identified the parameters of the dynamic model. For straight road constant speed motion, the vehicle dynamic model is used to design appropriate controller. Simulation and experiment results are provided to verify the dynamic modeling and control performance.
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