Turn following system of intelligent vehicleinloop test bench(PDF)
长安大学学报（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]
- Issue:
- 2019年06期
- Page:
- 116-126
- Research Field:
- 汽车与机械工程
- Publishing date:
Info
- Title:
- Turn following system of intelligent vehicleinloop test bench
- Author(s):
- ZHAO Xiangmo; WANG Wenwei; WANG Runmin; XU Zhigang
- (1. Shaanxi Auto Networking and Intelligent Vehicle Testing Technology Engineering Research Center, Chang’an University, Xi’an 710064, Shaanxi, China; 2. Ministry of Transport of the People’s Republic of China Closecourse Selfdriving Test Base, Chang’an University, Xi’an 710064, Shaanxi, China; 3. The Joint Laboratory for Internet of Vehicles, Ministry of EducationChina Mobile Communications Corporation, Chang’an University, Xi’an 710064, Shaanxi, China)
- Keywords:
- automobile engineering; intelligent vehicle test; vehicleinloop test; drum platform; steering servo; fuzzy PI control; position loop feedforward control
- PACS:
- -
- DOI:
- -
- Abstract:
- In order to solve the problem that the traditional drum platform cann’t measure the steering angle of intelligent vehicle and cann’t be used to test the changing track scene of intelligent vehicle. A steering servo system with servo motor system as the control object was proposed, and the influence of the control strategy based on distance sensor on the angle following was studied. Firstly, the intelligent vehicle was placed on the steering platform of the steering followup system, and the tire steering drives the steering platform to realize the angle acquisition of the tested intelligent vehicle. Secondly, a pair of laser sensors were installed on the left and right steering platforms to collect the angle difference as the position input of the control system. Then, a twoinput and twooutput fuzzy controller was established based on the input angular difference, and the change rate of angular difference and the position pulse control parameter PI, so as to improve the accuracy and stability of steering servo system positioning. Finally, the parameters were adjusted according to the data collected by sensors and simulation experiments to realize the optimal control of the fuzzy controller. In the experiment, the vehiclemounted computer of the tested intelligent vehicle controls the steering wheel to rotate at different angular speeds. The steering wheel angle and the steering servo system angle was recorded respectively by the CAN bus of the vehicle and the upper computer program of the test bench. The results show that when the steering wheel of the tested intelligent car is tested at different angular speeds, the test results of the bench can be kept in a fixed interval without obvious changes, which can provide reliable parameter support for the steering performance test of the intelligent car. There is no significant relationship between the delay of steering servo system and the steering wheel angle speed of the tested intelligent car, and the delay of steering servo system is about 235.5 ms. 6 tabs, 16 figs, 27 refs.
Last Update: 2019-12-19