用于驾驶机器人的车速跟踪多机械手协调控制方法  

A New Coordinated Control Method of Multiple Manipulators for Vehicle Speed Tracking Applied to Robot Driver

作　　者：陈刚[1] 张为公[1] 龚宗洋[1] 孙伟[1] 

机构地区：[1]东南大学,南京210096

出　　处：《中国机械工程》2010年第6期651-655,共5页China Mechanical Engineering

基　　金：高等学校博士学科点专项科研基金资助项目(200802861061);江苏省汽车工程重点实验室开放基金资助项目(QC200603)

摘　　要：提出一种用于驾驶机器人的车速跟踪多机械手协调控制方法。建立了驾驶机器人车速跟踪多机械手/腿控制模型,在此基础上设计了驾驶机器人车速跟踪协调控制器,通过油门/离合器协调控制器实现了车辆的平稳起步和平顺换挡,通过发动机/制动器切换控制器实现了驾驶机器人对给定车速的准确跟踪。实车试验结果表明,提出的方法能合理地协调控制驾驶机器人的油门、制动、离合机械腿和换挡机械手,实现对目标车速的跟踪控制,驾驶机器人完全能够代替试验人员进行各种汽车试验。A new coordinated control method of multiple manipulators for vehicle speed tracking applied to robot driver was proposed herein. The multiple manipulator coordinated control model for vehicle speed tracking of robot driver was built. In addition, on the basis of this, a coordinated controller for vehicle speed tracking of robot driver was designed. Stationary startup and smooth shift were achieved by the coordinated throttle and clutch controller and speed tracking of given speed were realized by the engine and brake switch controller. Experimental results demonstrate that the proposed method can realize the coordinated control of shift manipulator, accelerator pedal, clutch pedal and brake pedal for vehicle robot driver and achieve the tracking control of target speed. Therefore the robot driver is able to control the tested vehicle to replace human driver.

关 键 词：汽车驾驶机器人 多机械手 协调控制 车速跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U467.5[自动化与计算机技术—控制科学与工程]