臺灣博碩士論文加值系統

本篇論文的成果在於完成一個四輪轉向模型車(Four-Wheel-Steering Vehicle)的轉向控制器。轉向控制採用RST多項式控制器設計，可根據車速達成方向控制、進而達到能夠自動循指定通過的路徑點的無人駕駛車。
實驗雛型為一部改裝自市售四輪轉向模型車平台。加裝包括超音波測距，慣性導航與GPS定位的感測器，與兩顆微處理器的分佈式電腦系統，能以無線網路遠距離進行控制實驗。
文中根據車體轉向的運動學原理及四輪轉向連桿機構的幾何尺寸，推導出車體與前進速度相關的非線性狀態方程式數學模型；並以實驗測得狀態方程式中個別參數的數值。
在完成的雛型，使用者可利用xPCTarget/Simulink所建立的操作介面，指定任意座標點位置或方位，透過無線網路，下達行進點或行進方向的命令，模型車根據遠端命令及自行開發的GPS慣性導航感測器所傳回的即時資料，修正轉向角度；使用者亦可預作路徑規劃，設定計劃通過之座標點，模型車即可自動依循所設定的座標點行進。
最後該模型車在校園內進行指定行進路徑的無人駕駛實驗。結果證明該系統可以依循指定路徑點，完成航程，達到上述的論文目標。

The achievement of this thesis is to design a steering controller for a four-wheel-steering vehicle. The steering controller is designed by using the RST polynomial pole-placement method with anti-windup. We accomplish directional control according to the speed of vehicle. Furthermore, the unmanned vehicle can pass through preset way points automatically.
An experimental model is rebuilt from a commercial model vehicle. We add some sensors including ultrasonic, inertial navigating sensors, a GPS and a magnetic compass on the model vehicle. There are two embedded computer systems on the model vehicle. We use a wireless network for command and data transmission.
In this thesis, we have derived the state-space model of the vehicle from the kinematics relation of the steering mechanism of the vehicle. The parameters of the model are obtained experimentally.
We can set the XY-coordinate of a way point position by using an interface developed with Simulink/xPCTarget, the forwarding command is transmitted through a wireless network communication channel. The model vehicle adjusts the steering angle according to the remote command and the real-time orientation data from the inertial navigation system. The vehicle can automatically pass pre-defined way points.
At last we have made an unmanned driving experiment with the model vehicle on preset way points in the Yuan-Ze University campus to verify that the control system automatically follows commands to accomplish the goal of this thesis.

誌 謝
目 錄
圖 目 錄
表 目 錄
第1章 緒論
1.1 研究動機與目的
1.2 研究背景
1.3 文獻回顧
1.4 論文大綱
第2章 轉向系統規劃
2.1 車體轉向運動學分析
2.2 控制模型推導
2.3 控制模型簡化
2.4 設定轉向伺服馬達命令
2.4.1 訂定理想規格
第3章 數位控制器設計
3.1 RST多項式控制設計程序
3.1.1 防止積分飽和(Anti-windup)設計
3.2 RST多項式控制器設計
第4章 實驗與討論
4.1 實驗架構與設備
4.2 實驗方法
4.2.1 方位定義
4.2.2 南方奇異點定位說明
4.2.3 直線控制
4.2.4 任意方向控制
4.3 實驗結果與比較
第5章 結論與未來展望
參考文獻

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