超小形1kHzスマートカメラを用いたSSM軌道誘導車両の制御 : 動吸振器による安定化(機械力学,計測,自動制御)

概要

論文の詳細を見る
SSM (Sensor Steering Mechanism) vehicle realizes high speed moving and high accuracy following the guide way of the road. A conventional experimental setup of SSM is equipped with a sensor arm and a deceleration gear system which controls the ration of arm and steering angle. The existence of this sensor arm prevents to realize SSM for conventional vehicles. This paper tries to replace the sensor arm with 1 kHz Smart Camera which is developed recently. By using of the difference between left and right pixel values over the each edge of the center line, the following control is applied to SSM-vehicle model. The vibration of the control system caused by the long sampling interval is reduced by using the dynamic absorber. Finally, the experimental results show the stable cornering even if the rear part of the vehicle is drifting.
社団法人日本機械学会の論文
2005-01-25