1kHzスマートカメラ搭載SSM軌道誘導車両の高速化 : 操舵比とレバー比可変によるドリフト抑制(機械力学,計測,自動制御)

概要

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The previous paper proposed a SSM (Sensor Steering Mechanism) for a lateral guided vehicle which follows the guideway. The SSM achieves high-speed moving on a straight line, but the cornering stability is influenced by the approach speed and the slip angle of the tires. For the conventional SSM, the steering ratio (the ratio of a sensor arm angle and a steering angle) is set at 2 to 1. In order to reach high speeds while moving, this paper proposes the variable steering ratio and the sensor arm ratio (the ratio of the sensor arm length and the wheel base). For the experiment, the steering ratio of the RR (Rear motor Rear drive) type SSM vehicle with 1kHz smart camera is changed to 1 to 1.5. Experimental and simulated results of running on the test track are presented and demonstrated the advantage of this method.
社団法人日本機械学会の論文
2006-05-25