CN108930890A - A kind of packaged type external display screen bracket and its control method for driving assistance system experiment porch - Google Patents
A kind of packaged type external display screen bracket and its control method for driving assistance system experiment porch Download PDFInfo
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- CN108930890A CN108930890A CN201810803664.XA CN201810803664A CN108930890A CN 108930890 A CN108930890 A CN 108930890A CN 201810803664 A CN201810803664 A CN 201810803664A CN 108930890 A CN108930890 A CN 108930890A
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- 238000002474 experimental method Methods 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims description 14
- 229910052751 metal Inorganic materials 0.000 claims abstract description 4
- 239000002184 metal Substances 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 2
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Rehabilitation Tools (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a kind of packaged type external display screen brackets for driving assistance system experiment porch, comprising: return pulley frame, is metal frame, and bottom has universal wheel；Top frame connects the return pulley frame by telescopic mast to be rectangular；Fixed frame is arranged in the top frame；Telescopic frame connects the fixed frame by articulation piece, comprising: four " L " type frames composition, the frame comprising: the first frame, be it is rectangular, first frame one end has cut-off end；Second frame has an array hole to be rectangular, the other end of the first frame described in the integrally connected of second frame one end, has groove in second frame；Wherein, the one end of described " L " the type frame with cut-off end can have one end of groove to slide in another frame, and using movable base, and display screen fixed border is adjustable, and adaptability is good.
Description
Technical field
The present invention relates to automobile assistant driving fields more particularly to a kind of for the removable of driving assistance system experiment porch
Dynamic formula external display screen bracket and its control method.
Background technique
With the rapid development of the automotive industry with the progress of automotive engineering, ADAS system is gradually improved, and gradually there are item in colleges and universities
Part carries out ADAS experiment, but since unit etc. is not complete, has very big limitation to experiment.
Summary of the invention
The present invention has designed and developed a kind of packaged type external display screen bracket for driving assistance system experiment porch,
Using movable base, and display screen fixed border is adjustable, and adaptability is good.
It is a still further object of the present invention to provide the packaged type external display screens for driving assistance system experiment porch
Bracket control method adjusts telescopic mast height using FUZZY ALGORITHMS FOR CONTROL accurate calculation, improves driving assistance system experiment porch
Practical function, realize height adjustment, and can intelligently follow experiment people.
Technical solution provided by the invention are as follows:
A kind of packaged type external display screen bracket for driving assistance system experiment porch, comprising:
Return pulley frame, is metal frame, and bottom has universal wheel；
Top frame connects the return pulley frame by telescopic mast to be rectangular；
Fixed frame is arranged in the top frame；
Telescopic frame connects the fixed frame by articulation piece；
The flexible frame includes: four " L " type frames
The frame includes:
First frame, to be rectangular, first frame one end has cut-off end；
The second frame is invented, to be rectangular, there is array hole, the first frame described in the integrally connected of second frame one end
The other end, there is in second frame groove；
Wherein, there is the frame one end at cut-off end can have reeded one end matching sliding in frame.
Preferably, the first frame cut-off end has pulley, and the pulley center has through hole.
Preferably, further includes: movable bolt can pass through the through hole and be fixed on the battle array of second frame
It arranges in hole.
Preferably, the articulation piece comprising:
Fixing piece is fixed on the fixed frame；
Rocker arm, one end and the fixing piece are hinged；
Connector is rotatably supported at the rocker arm other end；
Installation part, it is hinged with the connector other end, for fixed flexible frame.
Preferably, the angle of the connector and the rocker arm is 0 ° -180 °.
Preferably, the angle of the installation part and the connector is 0 ° -90 °.
Preferably, the telescopic mast comprising:
Fixes sleeve, one end of which is fixed on the return pulley frame；
Portable pillar is arranged in the fixes sleeve；
Pressure spring, one end connect the fixes sleeve bottom, and the other end connects the portable pillar；
Wherein, the fixes sleeve has the sliding slot of perforation, has limited post in the portable pillar, the limited post can
It is slided in sliding slot.
A kind of packaged type external display screen bracket control method for driving assistance system experiment porch, comprising:
Ultrasonic transmitter is placed on following object, and ultrasonic wave is set on driving assistance system experiment porch and is received
Device, and real-time monitoring follows object position；
Wherein, the ultrasonic transmitter is at interval of the ultrasonic signal of transmitting in k seconds；
In cartesian coordinate system, the ultrasonic transmitter position coordinate { x detected by the n-th k secondsn,yn,zn}
The supersonic detector position coordinate { x detected for k seconds with (n-1)n-1,yn-1,zn-1}；N is positive integer；
According to the position coordinates, alternate position spike Δ λ=z of ultrasonic transmitter and supersonic detector is calculatedn-zn-1；
By the alternate position spike, ultrasonic transmitter movement speed inputs fuzzy controller, obtains the adjusting height of telescopic mast；
Straight-line displacement track of the ultrasonic transmitter on x/y plane is calculated according to the position coordinates；
Calculate driving assistance system experiment porch follows speed, and follows speed to move along deformation trace with described；
Motion profile front obstacle is detected by infrared sensor, when an obstacle is detected, driving assistance system is real
It tests platform to turn to angle [alpha], after turning to t seconds, former track is returned to angle-α；
Wherein, steering angle α is 30 ° -60 °, and time t is 0.32-0.45s.
Preferably, the calculating process of the fuzzy controller, comprising:
The alternate position spike is made comparisons to obtain position parameter deviation signal with predeterminated position coefficient, by it is described follow speed with
Speed is averagely followed to make comparisons to obtain and follow speed deviation signal；
Position parameter deviation signal is obtained into position parameter change rate signal by differential calculation；Velocity deviation will be followed to believe
It number obtains following percentage speed variation signal after differential calculation；
By position parameter change rate signal and percentage speed variation signal is followed to input fuzzy controller, exported as telescopic mast
Adjust height.
Preferably, the driving assistance system experiment porch follows speed calculation formula are as follows:
Wherein, λ is unit length, and numerical value 0.2-0.5m, Δ δ are delay time, numerical value 0.24s
Beneficial effect of the present invention
The present invention has designed and developed a kind of packaged type external display screen bracket for driving assistance system experiment porch,
Using movable base, it is moved easily, facilitate and place other experimental facilities, and display screen tilt adjustable, fixed border size
Adjustable adaptability is good, can satisfy the requirement of experiment of different condition, entire bracket is using aluminum profile, steel as main material, matter
Amount is light, is be easily moved, and display screen guarantees that display screen can rotate upwardly and downwardly by articulation piece Connection Bracket.
The present invention adjusts telescopic mast height using FUZZY ALGORITHMS FOR CONTROL accurate calculation, improves driving assistance system experiment porch
Practical function, realize height adjustment, and can intelligently follow experiment people.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of packaged type external display screen bracket of the present invention.
Fig. 2 is the structural schematic diagram of chassis of the present invention.
Fig. 3 is the structural schematic diagram of telescopic frame of the present invention.
Fig. 4 is the structural schematic diagram of articulation piece of the present invention.
Fig. 5 is the structural schematic diagram of the present invention for stretching lock pillar.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
As shown in Figure 1, the present invention is provided to the packaged type external display screen bracket of driving assistance system experiment porch,
It include: return pulley frame 110, top frame 120, fixed frame 130 and telescopic frame 140.
As shown in Fig. 2, return pulley frame 110 is metal frame, bottom has universal wheel；As a preference, bottom has 6
Universal wheel, top frame 120 be it is rectangular, pass through telescopic mast 400 connect return pulley frame 110；Fixed frame 130 is fixed it and is arranged in top frame
On 120；The height of the adjustable top frame 120 of telescopic mast 400 or the angle of top frame 120 and return pulley frame 110.
As shown in figure 3, telescopic frame 140 is by 200 Connection Bracket 130 of articulation piece, telescopic frame 140 is by four " L "
Type frame composition, four L-type side frames connect to forming square border two-by-two, each frame include: the first frame 121 be it is rectangular, the
One frame, 121 end has cut-off end；Second frame 122 be it is rectangular, have array hole, second frame one end the first side of integrally connected
The other end of frame 121, the second frame 122 are interior with groove；Wherein, " L " type frame has the one end at cut-off end can be another
Frame has reeded one end sliding, can be bolted to one end that the first frame 121 has cut-off end, and bolt drives
First frame 121 is fixed in the array hole of the second frame 122, by changing the position of array hole, changes 121 He of the first frame
The relative position of second frame 122.
In another embodiment, telescopic frame 140 is by 200 Connection Bracket 130 of articulation piece, and telescopic frame 140 is by four
A " L " type frame composition, four L-type side frames connect to forming square border two-by-two, and each frame includes: that the first frame 121 is square
Shape, 121 end of the first frame have cut-off end；Second frame 122 be it is rectangular, have array hole, second frame one end integrally connected
The other end of first frame 121, the second frame 122 are interior with groove；Wherein, " L " type frame has the one end at cut-off end can
In another frame there is one end of groove to slide, the cut-off end of the first frame 121 has pulley 121a, and 121 center of pulley has
Through hole can pass through through hole using bolt, and bolt drives the first frame 121 to be fixed in the array hole of the second frame 122,
By changing the position of array hole, change the relative position of the first frame 121 and the second frame 122.
As shown in figure 4, articulation piece 200 includes: that fixing piece 210 is fixed on fixed frame 130；220 one end of rocker arm and institute
It is hinged to state fixing piece, fixing piece is cylindricality, and rocker arm 220 is set on fixing piece 210, and rocker arm can be rotated around fixing piece 210, even
Fitting 230 is rotatably supported at 220 other end of rocker arm；Installation part 240 and 230 other end of connector are hinged, for fixed flexible
Frame has mounting hole on installation part 240, is connect installation part 240 with display screen by bolt.
As a preference, the angle of connector 230 and rocker arm 220 is 0 ° -180 °, installation part 240 and connector 230
Angle is 0 ° -90 °.
As shown in figure 5, telescopic mast 400 includes: that 410 one end of fixes sleeve is fixed on return pulley frame 110；Portable pillar 420
It is arranged in fixes sleeve 410, portable pillar 420 can be slided along 410 inner wall of fixes sleeve, and 430 one end of pressure spring is connected and fixed set
410 bottoms of cylinder, the other end connect portable pillar 420；Wherein, there is limit in sliding slot portable pillar 420 of the fixes sleeve 410 with perforation
Position column 421, limited post 421 can slide in sliding slot.
Implement by taking the course of work of packaged type external display screen bracket as an example, is described further
Display screen is fixed in telescopic frame 140, telescopic frame 140 drives the first frame 121 to be fixed on the by bolt
In the array hole of two frames 122, by changing the position of array hole, change the opposite position of the first frame 121 and the second frame 122
It sets, can be set as arbitrary dimension, be suitable for arbitrary dimension display screen.
Return pulley frame 110 is connected by telescopic mast 400；Fixed frame 130 is fixed it and is arranged in top frame 120；Telescopic mast 400
The height of adjustable top frame 120 or the angle of top frame 120 and return pulley frame 110.
A kind of packaged type external display screen bracket control method for driving assistance system experiment porch, comprising:
Ultrasonic transmitter is placed on following object, and ultrasonic wave is set on driving assistance system experiment porch and is received
Device, and real-time monitoring follows object position；
Wherein, ultrasonic transmitter is at interval of the ultrasonic signal of transmitting in k seconds；
In cartesian coordinate system, the ultrasonic transmitter position coordinate { x detected by the n-th k secondsn,yn,zn}
The supersonic detector position coordinate { x detected for k seconds with (n-1)n-1,yn-1,zn-1}；N is positive integer；
According to position coordinates, alternate position spike Δ λ=z of ultrasonic transmitter and supersonic detector is calculatedn-zn-1；
By alternate position spike Δ λ, ultrasonic transmitter movement speed inputs fuzzy controller, obtains the adjusting height of telescopic mast；
Straight-line displacement track of the ultrasonic transmitter on x/y plane is calculated according to position coordinates；
Calculate driving assistance system experiment porch follows speed, and to follow speed to move along deformation trace；It drives auxiliary
Auxiliary system experiment porch follows speed calculation formula are as follows:
Wherein, λ is unit length, and numerical value 0.2-0.5m, Δ δ are delay time, numerical value 0.24s.
Motion profile front obstacle is detected by infrared sensor, when an obstacle is detected, driving assistance system is real
It tests platform to turn to angle [alpha], after turning to t seconds, former track is returned to angle-α；
Wherein, steering angle α is 30 ° -60 °, and time t is 0.32-0.45s.
The calculating process of fuzzy controller, comprising:
Alternate position spike Δ λ makes comparisons to obtain position parameter deviation signal with predeterminated position coefficient 0.32,
Speed v will be followed and averagely follow speedIt makes comparisons to obtain and follows speed deviation signal；
Position parameter deviation signal is obtained into position parameter change rate signal by differential calculation；Velocity deviation will be followed to believe
It number obtains following percentage speed variation signal after differential calculation；
By position parameter change rate signal e1With follow percentage speed variation signal e2Fuzzy controller is inputted, it is flexible for exporting
The adjusting height q of column.
Wherein, e1、e2, q variation range distinguish [0.2,0.6], [0.5,3], [0.1,0.2]；e1、e1Discrete domain
It is { -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6 } that the discrete domain of Q is { 0,1,2,3,4,5,6,7,8,9,10 }
Then quantizing factor k1=6/0.4, k2=6/2.5, scale factor k3=10/0.1
Ambiguity in definition subset and membership function:
Assessment factor change rate signal is divided into 7 fringes: PB (honest), PM (center), PS (just small), ZR
(zero), NS (bearing small), NM (in negative), NB (negative big), obtains assessment factor change rate signal e in conjunction with experience1Subordinating degree function
Table, as shown in table 1.
1 position parameter change rate signal e of table1Subordinating degree function table
| e1 | -6 | -5 | -4 | -3 | -2 | -1 | -0 | +0 | +1 | +2 | +3 | +4 | +5 | +6 |
| PB | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 |
| PM | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 | 0.7 | 0.2 |
| PS | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.1 | 0.7 | 1.0 | 0.7 | 0.1 | 0 | 0 |
| ZR | 0 | 0 | 0 | 0 | 0.1 | 0.7 | 1.0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NB | 0 | 0 | 0.1 | 0.7 | 1.0 | 0.7 | 0.1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NM | 0.2 | 0.7 | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NS | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
Following percentage speed variation signal to be divided into 7 fringes: PB (honest), PM (center), PS (just small), ZR
(zero), NS (bearing small), NM (in negative), NB (negative big), obtains assessment factor change rate signal e in conjunction with experience2Subordinating degree function
Table,
Table 2 follows percentage speed variation signal e2Subordinating degree function table
| e2 | -6 | -5 | -4 | -3 | -2 | -1 | -0 | +0 | +1 | +2 | +3 | +4 | +5 | +6 |
| PB | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 |
| PM | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 | 0.7 | 0.2 |
| PS | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.1 | 0.7 | 1.0 | 0.7 | 0.1 | 0 | 0 |
| ZR | 0 | 0 | 0 | 0 | 0.1 | 0.7 | 1.0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NB | 0 | 0 | 0.1 | 0.7 | 1.0 | 0.7 | 0.1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NM | 0.2 | 0.7 | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NS | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
It is seven fringes: PB (honest), PM (center), PS (just small), ZR adjusting height q points of telescopic mast
(zero), NS (bearing small), NM (in negative), NB (negative big), the function table of correction factor Δ ρ ' being subordinate to is obtained in conjunction with experience, such as table 3
It is shown.
The subordinating degree function table of the adjusting height q of 3 telescopic mast of table
Fuzzy reasoning process has to carry out complicated matrix operation, and calculation amount is very big, and on-line implement reasoning is difficult to meet
The requirement of control system real-time, the present invention carry out fuzzy reasoning operation using look-up table, and Fuzzy inferential decision uses dual input
The mode singly exported, control rule are made of following reasoning language:
If e is Ai and ec is Bi thenΔKj is Ci
Wherein, Ai, Bi, Ci are respectively e1、e2With q fuzzy subset.
The preliminary control rule of fuzzy controller can be summed up by experience, wherein parameter q controls rule and is shown in Table 4
Fuzzy controller carries out defuzzification to output signal according to the fuzzy value obtained, obtains the wind of the first air blower
Speed seeks fuzzy polling list, due to domain be it is discrete, fuzzy control rule and a fuzzy matrix can be expressed as, adopted
With single-point fuzzification, fuzzy polling list is found out, is shown in Table 5
5 fuzzy polling list of table
The present invention adjusts telescopic mast height using FUZZY ALGORITHMS FOR CONTROL accurate calculation, improves driving assistance system experiment porch
Practical function, realize height adjustment, and can intelligently follow experiment people.
The present invention has designed and developed a kind of packaged type external display screen bracket for driving assistance system experiment porch,
Using movable base, it is moved easily, facilitate and place other experimental facilities, and display screen tilt adjustable, fixed border size
Adjustable adaptability is good, can satisfy the requirement of experiment of different condition, entire bracket is using aluminum profile, steel as main material, matter
Amount is light, is be easily moved, and display screen guarantees that display screen can rotate upwardly and downwardly by articulation piece Connection Bracket.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of packaged type external display screen bracket for driving assistance system experiment porch characterized by comprising
Return pulley frame, is metal frame, and bottom has universal wheel；
Top frame connects the return pulley frame by telescopic mast to be rectangular；
Fixed frame is arranged in the top frame；
Telescopic frame connects the fixed frame by articulation piece；
The flexible frame includes: four " L " type frames
The frame includes:
First frame, to be rectangular, first frame one end has cut-off end；
Invent the second frame, to be rectangular, there is array hole, the first frame described in the integrally connected of second frame one end it is another
One end, second frame is interior to have groove；
Wherein, there is the frame one end at cut-off end can have reeded one end matching sliding in frame.
2. the packaged type external display screen bracket according to claim 1 for driving assistance system experiment porch,
It is characterized in that, the cut-off end has pulley, and the pulley center has through hole.
3. the packaged type external display screen bracket according to claim 2 for driving assistance system experiment porch,
It is characterized in that, further includes: movable bolt can pass through the through hole and be fixed in the array hole of second frame.
4. the packaged type external display screen bracket according to claim 1 for driving assistance system experiment porch,
It is characterized in that, the articulation piece comprising:
Fixing piece is fixed on the fixed frame；
Rocker arm, one end and the fixing piece are hinged；
Connector is rotatably supported at the rocker arm other end；
Installation part, it is hinged with the connector other end, for fixed flexible frame.
5. the packaged type external display screen bracket according to claim 4 for driving assistance system experiment porch,
It is characterized in that, the angle of the connector and the rocker arm is 0 ° -180 °.
6. the packaged type external display screen bracket according to claim 5 for driving assistance system experiment porch,
It is characterized in that, the angle of the installation part and the connector is 0 ° -90 °.
7. the packaged type according to claim 1 or described in any one of 4 for driving assistance system experiment porch is external aobvious
Display screen bracket, which is characterized in that the telescopic mast comprising:
Fixes sleeve, one end of which is fixed on the return pulley frame；
Portable pillar is arranged in the fixes sleeve；
Pressure spring, one end connect the fixes sleeve bottom, and the other end connects the portable pillar；
Wherein, the fixes sleeve has the sliding slot of perforation, has limited post in the portable pillar, the limited post can be in cunning
Sliding in slot.
8. a kind of packaged type external display screen bracket control method for driving assistance system experiment porch, feature exist
In, comprising:
Ultrasonic transmitter is placed on following object, and ultrasonic receiver is set on driving assistance system experiment porch, and
Real-time monitoring follows object position；
Wherein, the ultrasonic transmitter is at interval of the ultrasonic signal of transmitting in k seconds；
In cartesian coordinate system, the ultrasonic transmitter position coordinate { x detected by the n-th k secondsn,yn,znAnd the
(n-1) the supersonic detector position coordinate { x detected for k secondsn-1,yn-1,zn-1}；N is positive integer；
According to the position coordinates, alternate position spike Δ λ=z of ultrasonic transmitter and supersonic detector is calculatedn-zn-1；
By the alternate position spike, ultrasonic transmitter movement speed inputs fuzzy controller, obtains the adjusting height of telescopic mast；
Straight-line displacement track of the ultrasonic transmitter on x/y plane is calculated according to the position coordinates；
Calculate driving assistance system experiment porch follows speed, and follows speed to move along deformation trace with described；
Motion profile front obstacle is detected by infrared sensor, when an obstacle is detected, driving assistance system experiment is flat
Platform is turned to angle [alpha], after turning to t seconds, returns to former track with angle-α；
Wherein, steering angle α is 30 ° -60 °, and time t is 0.32-0.45s.
9. the packaged type external display screen bracket according to claim 8 for driving assistance system experiment porch controls
Method, which is characterized in that the calculating process of the fuzzy controller comprising:
The alternate position spike is made comparisons to obtain position parameter deviation signal with predeterminated position coefficient, speed is followed described and is averaged
Speed is followed to make comparisons to obtain and follow speed deviation signal；
Position parameter deviation signal is obtained into position parameter change rate signal by differential calculation；Speed deviation signal will be followed to pass through
It obtains following percentage speed variation signal after crossing differential calculation；
By position parameter change rate signal and percentage speed variation signal is followed to input fuzzy controller, exports the adjusting for telescopic mast
Highly.
10. the packaged type external display screen bracket control according to claim 9 for driving assistance system experiment porch
Method processed, which is characterized in that the driving assistance system experiment porch follows speed calculation formula are as follows:
Wherein, λ is unit length, and numerical value 0.2-0.5m, Δ δ are delay time, numerical value 0.24s.
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