期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2015
卷号：12
DOI：10.5772/61107
语种：English
出版社：SAGE Publications
摘要：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.
关键词：unmanned robot; automotive test; electromagnetic; improved Smith predictor compensator; time delay
