| Summary: | 碩士 === 國立臺灣大學 === 生物產業機電工程學研究所 === 93 === The global positioning system is being at the stage of intensive applications. The satellite positioning, no matter where in the field of automobile, the aviation, the agriculture and the industry excellent performance. The main purpose of this study is to develop a steering control system of agricultural vehicles. At first an unmanned experimental car was designed and the hardware was mounted. The control system was then be done. The control program was written by Visual Basic6.0 as a software environment. The control theory was mainly based on the PID control because the PID system was stable and also if the factors (for example climate、 terrain、and environmental factors) outdoors were unstable for the establishment of control model. By adjusting Kp/Ki/Kd parameters we could try to find an optimal solution for this steering control system.
Experiment procedures was starting from translation between 8051 chip and unmanned car 、 tried to burning program into the 8051 chip, then combined all the software and hardware parts, preparing to test on the real road. For conclusion, Kp/Ki/Kd=40/40/40 and 60/40/40 was the optimal solution of our experiment.
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