J. Quevedo, E. Garrido, F. Rodríguez, J. C. Hernández, J. Cugueró, B. Morcego
{"title":"自动制导车辆的数字控制","authors":"J. Quevedo, E. Garrido, F. Rodríguez, J. C. Hernández, J. Cugueró, B. Morcego","doi":"10.1109/ETFA.1999.813164","DOIUrl":null,"url":null,"abstract":"The paper deals with the digital control design of an autonomous vehicle of a four wheeled vehicle with two independent movements per wheel. This vehicle has been designed by CERTAP (Reference Center for Manufacturing Advanced Technologies) Consortium. There are two versions of digital control of each course wheel: a conventional digital filter + PID controller and a fuzzy controller using two inputs (the error of the course and its rate) and one output (the variation of the torque set-points of the servo-amplifiers). A PID position control is used to drive one of the four wheels, and its control action is the torque set-point for all the other drive servo-amplifiers.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Digital control of an autonomous guided vehicle\",\"authors\":\"J. Quevedo, E. Garrido, F. Rodríguez, J. C. Hernández, J. Cugueró, B. Morcego\",\"doi\":\"10.1109/ETFA.1999.813164\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper deals with the digital control design of an autonomous vehicle of a four wheeled vehicle with two independent movements per wheel. This vehicle has been designed by CERTAP (Reference Center for Manufacturing Advanced Technologies) Consortium. There are two versions of digital control of each course wheel: a conventional digital filter + PID controller and a fuzzy controller using two inputs (the error of the course and its rate) and one output (the variation of the torque set-points of the servo-amplifiers). A PID position control is used to drive one of the four wheels, and its control action is the torque set-point for all the other drive servo-amplifiers.\",\"PeriodicalId\":119106,\"journal\":{\"name\":\"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1999-10-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ETFA.1999.813164\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ETFA.1999.813164","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The paper deals with the digital control design of an autonomous vehicle of a four wheeled vehicle with two independent movements per wheel. This vehicle has been designed by CERTAP (Reference Center for Manufacturing Advanced Technologies) Consortium. There are two versions of digital control of each course wheel: a conventional digital filter + PID controller and a fuzzy controller using two inputs (the error of the course and its rate) and one output (the variation of the torque set-points of the servo-amplifiers). A PID position control is used to drive one of the four wheels, and its control action is the torque set-point for all the other drive servo-amplifiers.
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