輪式車輛遙控轉(zhuǎn)向系統(tǒng)設(shè)計(jì)研究.pdf

1、山東理工大學(xué)碩士學(xué)位論文輪式車輛遙控轉(zhuǎn)向系統(tǒng)設(shè)計(jì)研究姓名：王毓琨申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：車輛工程指導(dǎo)教師：鄒廣德夏禹武20050501山東理T大學(xué)碩十學(xué)位論文英文摘要AbstractInthethesis，abriefintroductionisgivenabouttheworkingprincipleofwheeltypeteleoperatedvehicleOnthebasisofthesystem’Sdynamicsanalysi

2、s，itcanbesimplifiedintoalinearsystemmodel，withsteeringangleindicatinginputandtheangleofvehicle’SsteeringcolumnrepresentingoutputItiscontrolledbyPIDcontrollerwhoseparametersareoptimizedwithGeneticAlgorithmsThensystemsimul

3、atedwithMATLAB，resultshowthatthesystemischaracterizedwithrapidresponseandhightrackingprecisionInaddition，wealsoaddresstheinfluenceofimpulsiondisturbancefromthegroundonthevehiclewithastraightcourse，andthenbuildalinearsyst

4、emmodelwiththedisturbanceindicatinginputandtheangleofvehicle’SsteeringcolumnrepresentingoutputTheresultsshowthatthevehiclewiththissystemhasabilitytoattenuateautomaticallyimpulsiondisturbancefromthegroundandtokeepitswayOn

5、thebasisofreferringplatformforEPS，webuildthewheeltypeplatformtosimulatethesteeringresistanceintruthWeprimarilydesignacontrolunitforsystem，whichisanimportantparttorealizethecontrolofsystemandtoensurethesystemhasgoodperfor

6、manceandrunseffectivelySingleChipMicrocomputerP87C591，oneofthemostimportantmembersoftheunit，processesthesignalsentfromsystemandcontrolelectromotorandrelaytealizeunmannedsteeringStill，somecircuitsaredesignedThecircuitsinc

7、ludecircuitsforprocessingsignal，drivingcircuitsforindicatingfailure，drivingcircuitsforsteeringcontrol，drivingcircuitsofPWM(pulsewidthmodulate)ThenClanguageisadoptedtoprogramandrealizeprimarilysoftwaredesignofcontrolsyste

8、mUsingtheprincipleofmoduleandbasingonP87C591，wedesignthemainprogramofcontrolsystemandothermodules，includingmoduleforsignalmonitoring，digitalfiltermodule，moduleforfailuresenseandverdict—process，PIDcontrolmoduleandmodulefo

9、rcontrollingdirection—changedelayFinally，theresultexpectedcomesoutFinally，theexperimentshavebeencarriedout。TheresultofsteeringtraitexperimentshowsthattheplatformCansimulatethesteeringresistancefromgroundeffectivelyandthe

10、formulationisright，whichhaveimportantsignificanceinpracticeTheresultofpreciseexperimentsindicatesthatthesystemrespondstotheinputquicklyandprecisely，andaccomplishestheunmannedsteeringeffectivelyKeywords：Teleoperatedvehicl