Implementation of Vehicle Dynamic Control with Carrier Phase

• Main Authors: Yu-ming Lin, 林煜銘
• Other Authors: Wei-Wen Kao
• Format: Others
• Language: zh-TW
• Published: 2000
• Online Access: http://ndltd.ncl.edu.tw/handle/38047097929939412779

碩士 === 國立臺灣科技大學 === 機械工程系 === 88 === Compared with the DGPS pseudorange based accuracy of several meters, the carrier phase position method achieves centi-meter level accuracy. This thesis used the carrier phase positioning method to measure the position and velocity of an experimental vehicle in order to achieve vehicle dynamic and tracking control. Carrier phase measurements are received in 5Hz update rate to accurately determine the vehicle positions to centimeter level in order to fulfill the real-time vehicle control requirements. In the experiments, different voltage inputs to the vehicle driving DC motors are used to obtain a series of step responses in order to identify the vehicle dynamic model. Several controllers are designed based on the identified transfer function. Experiments including velocity regulation and tracking control, straight line position tracking control, and segmented path tracking control are performed with satisfactory results.