Open AccessControl Method for Electromagnetic Unmanned Robot Applied to Automotive Test Based on Improved Smith Predictor Compensator
Author(s) -
Gang Chen,
Weigong Zhang
Publication year - 2015
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/61107
Subject(s) - computer science , pid controller , controller (irrigation) , pulse width modulation , automotive industry , control theory (sociology) , displacement (psychology) , control system , robot , control (management) , control engineering , simulation , artificial intelligence , engineering , voltage , electrical engineering , temperature control , psychology , agronomy , psychotherapist , biology , aerospace engineering
A new control method for an electromagnetic unmanned robot applied to automotive testing (URAT) and based on improved Smith predictor compensator, and considering a time delay, is proposed. The mechanical system structure and the control system structure are presented. The electromagnetic URAT adopts pulse width modulation (PWM) control, while the displacement and the current doubles as a closed-loop control strategy. The coordinated control method of multiple manipulators for the electromagnetic URAT, e.g., a skilled human driver with intelligent decision-making ability is provided, and the improved Smith predictor compensator controller for the electromagnetic URAT considering a time delay is designed. Experiments are conducted using a Ford FOCUS automobile. Comparisons between the PID control method and the proposed method are conducted. Experimental results show that the proposed method can achieve the accurate tracking of the target vehicle's speed and reduce the mileage derivation of autonomous driving, which meets the requirements of national test standards