Model car side-slip motion analysis andcontrol

• Main Authors: Yea-Ching Jou, 周亞慶
• Other Authors: Wei-Wen Kao
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/09236073554430968230

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.