摩擦オブザーバによるビーグル速度制御の検討(システム情報工学科)

概要

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In this paper, a one wheel vehicle model without an engine unit is created using MATLAB/Simulink frequently used by control system design. The safety regulation systems at the time of acceleration and ABS at the time of slowdown are built to this model. Presuming the friction coefficient between a tire and a road surface in these systems is necessary. First, we try the design of each control rule at the time of acceleration and deceleration, having assumed that this coefficient of friction measured without an observer. Secondly, the control systems with an observer of friction coefficient are created. Finally, we verify robustness of these systems with an observer for several road conditions. Then, we show the validity of these control systems at the time of acceleration and deceleration.