Model car side-slip motion analysis andcontrol
碩士 === 國立臺灣科技大學 === 機械工程系 === 98 === This thesis discusses the application to use MEMS inertia sensors to detect the side slips of vehicles as well as the implementation of vehicle fixed angular speed control. Accelerometers and gyroscope sensors are selected for motion detection purposes due to its...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2010
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| Online Access: | http://ndltd.ncl.edu.tw/handle/09236073554430968230 |
| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 98 === This thesis discusses the application to use MEMS inertia sensors to
detect the side slips of vehicles as well as the implementation of vehicle
fixed angular speed control. Accelerometers and gyroscope sensors are
selected for motion detection purposes due to its easy installation in
vehicles. BASIC Stamp microcontroller is used in the experiments as
the platform for data acquisition and control implementation.
Proportional, fuzzy, and Gain-scheduling control algorithms are used
respectively to aid drivers and keep vehicle motions under maximum
angular speed during steering to prevent the side slip situation to happen.
Angular speeds from gyroscope sensor are constantly compared with a
maximum allowable angular speed to calculate the steering correction in
order to increase the turning curvature so as to achieve side-slip
prevention. The information from gyroscope and accelerometers are
sent to remote PC via Zigbee communication modules. Matlab is used
to process these data to compare the angular speed from gyroscope with
the angular speed derived from accelerometers under non-slipping
assumption in order to detect the side slip situation as well as recording
the vehicle performance under control.
The experiment demonstrates the proposed methods can effectively
detect the side-slip occurrence and also prevent vehicle from side slip
under various driving speed.
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