連結車操舵系の非線形ロバスト制御

スポンサーリンク

概要

• 論文の詳細を見る

• Several studies have been performed on improving maneuverability and stability of articulated vehicles by trailer wheel steering, but no control system that compensates instability against the perturbations such as the tire force nonlinearity and maintains good performance on maneuverability as various vehicle velocity has been proposed. In this paper a new robust control system for trailer wheel steering system is presented. The purpose of this control system is to make the trailer follow the tractor exactly at any velocity. This system consists of a desired path generator and a trailer wheel steering controller derived from H^∞ model following control. Lastly, this control system is evaluated through a series of simulations based upon the nonlinear model in terms of off-tracking characteristics at low velocity and steering responses at high velocity. The results have indicated that this system is highly effective for reduction of off-tracking and directional stability.

• 2001-06-25

著者

• 竹村 英孝

  長野県工科短期大学校

関連論文

• ツイスト・ドラフト紡績のスライディングモード制御(ロボティクスと計測制御)
• 連結車操舵系の非線形ロバスト制御
• 非線形操舵制御による連結車の操作性・安定性向上
• フライヤ式手紡ぎ機における制御操作と技能
• 2P2-K04 フライヤ式手紡ぎ機における技能の獲得
• 610 手紡ぎ機における手の動作解析(O.S.7-3 振動・運動解析)(オーガナイズドセッション7 : ロボティクス・メカトロニクスの基礎から応用)
• 410 特殊原料による特殊機能糸の多品種少量生産を行う紡績システムの開発(G.S.2 機器開発・モデル)
• Vibration Suppression of Stepping Motor Driven Systems Using Cogging Torque Compensator

スポンサーリンク