碩士 / 國立中興大學 / 農業機械工程學系 / 88 / An autonomous vehicle, which is navigated by a PC—based control system, was developed in this study. This vehicle consists of a crawler chassis, 2 sprockets, 2 rubber crawlers, a gear—type transmission and a 6—hp gasoline engine. This vehicle is driven by rear—wheel sprockets. The PC—based control system was composed of a stepping motor, a motion controller, digital input/output modules, rotary encoders and an electronic compass module. The signals are detected and actuated by the application software, which was coded in LabVIEW graphical programming language. The detected signals include the speed of engine output shaft, clutch position, rotation angle of the sprockets and the vehicle's orientation. The actuated signals include the steps of the stepping motor that represented the position of engine throttle valve, and the on/off of three clutches. Three clutches are main power pulley clutch, left—hand side and right—hand side turning clutches.
The basic motion performances of the vehicle were slippage, turning radius and the turning angle. The turning angle was in proportion to the turning time of the turning clutch. The slippage was about 16%~19%. The right—hand side turning radius was about 80 cm and the left—hand side turning radius was about 104 cm, and the right—hand side turning radius was about 20%~30% lower than the left—hand side. The right—hand side turning angle is about 27% and 25% higher than the left—hand side when the engine throttle valve was at position 1 and 3.
When the vehicle was self—propelled forward, the fluctuation range of orientation detected by electronic compass was about 70°, and about 40° when backward. However, these data can't be used in the control system. The vehicle was deviated about 2.0~3.0 m right—hand side when moved 15 m forward.
The vehicle moved forward and turned left in 2 sec at the middle of the way to reduce the deviation. The result showed the deviation decreased to —10.0~50.0 cm when moved 15 m ahead. The adjustment didn't work well. Because the vehicle's orientation fluctuated between 6.2°~17.6° when the left—hand side turning clutch was actuated in 2 sec. The ground conditions also affected the result.
The simulation of fuzzy control system could obtain suitable output (turning direction and time) when the orientation is deviate from the base direction.
| Identifer | oai:union.ndltd.org:TW/088NCHU0415015 |
| Date | January 2000 |
| Creators | Ling-Hsi Chen, 陳令錫 |
| Contributors | Tshen-Chan Lin, 林聖泉 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 90 |
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