RU92008059A - METHOD OF MANAGING THE EXVISTANT MOVEMENT OF A VEHICLE AND THE METHOD OF DETERMINING ANGULAR AND LINEAR-SIDE DEFLECTION FROM ITS BACKGROUND - Google Patents
METHOD OF MANAGING THE EXVISTANT MOVEMENT OF A VEHICLE AND THE METHOD OF DETERMINING ANGULAR AND LINEAR-SIDE DEFLECTION FROM ITS BACKGROUNDInfo
- Publication number
- RU92008059A RU92008059A RU92008059/24A RU92008059A RU92008059A RU 92008059 A RU92008059 A RU 92008059A RU 92008059/24 A RU92008059/24 A RU 92008059/24A RU 92008059 A RU92008059 A RU 92008059A RU 92008059 A RU92008059 A RU 92008059A
- Authority
- RU
- Russia
- Prior art keywords
- vehicle
- proportional
- signal
- tnt
- deviation
- Prior art date
Links
- 230000000875 corresponding Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 claims 1
- 230000014509 gene expression Effects 0.000 claims 1
- 238000009499 grossing Methods 0.000 claims 1
- 238000000034 method Methods 0.000 claims 1
- 230000003068 static Effects 0.000 claims 1
- 239000002699 waste material Substances 0.000 claims 1
Claims (1)
где φ1, φ2 - измеренные курсовые углы первой и второй ТНТ соответственно; r1, r2 - фиксированные расстояния до первой и второй ТНТ соответственно. Наличие раздельной информации о координатах α и β позволяет реализовать пропорционально-интегральные по угловому и пропорционально-дифференциальное по линейному отклонению ТС от ЗТ управление с пониженными статической и динамической ошибками и временем переходного процесса. Использование не совпадающих ТНТ позволяет сглаживать при челночном движении случайные искривления ОТ.The invention relates to traffic control mainly ground vehicles (TS), including trailed, with a constant, including zero or changing according to a given law distance from some physical specified on the surface movement of the reference trajectory (OT) - the boundaries of the waste field , road markings, etc. The control method consists in forming signals proportional to real linear-lateral (LBO) and angular (PP) deviations of the vehicle from OT, form and maintain a constant signal proportional to a given distance between OT and a given trajectory (ST), subtract the latter from the signal proportional to the LBO, thereby obtaining a signal proportional to the deviation of the vehicle from the ST, form a signal proportional to the speed of translational movement of the vehicle, multiply the received signal by the signal proportional to the SV, sum it with the signal support deviation of the vehicle from the ST, and produce an effect on the control wheels of the vehicle corresponding to the magnitude and sign of the total signal. The method of determining the LBO α and PP b of the deviation of the vehicle from the OT is that the course angles of the two current navigation points (TNT) on the OT are measured using two optical-electronic, magnetic or other sensors, and a and b are determined by the expressions:
where φ 1 , φ 2 - measured course angles of the first and second TNT, respectively; r 1 , r 2 - fixed distances to the first and second TNT, respectively. The presence of separate information about the coordinates α and β allows to implement proportional-integral with respect to the angular and proportional-differential with respect to the linear deviation of the vehicle from the control system with reduced static and dynamic errors and the time of the transition process. The use of non-coincident TNT allows smoothing random distortions of OT during the shuttle movement.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
RU9292008059A RU2032926C1 (en) | 1992-11-24 | 1992-11-24 | Method of control over equidistant traffic of vehicles and method of determination of angular and linear-side deviation of vehicle from reference path |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
RU9292008059A RU2032926C1 (en) | 1992-11-24 | 1992-11-24 | Method of control over equidistant traffic of vehicles and method of determination of angular and linear-side deviation of vehicle from reference path |
Publications (2)
Publication Number | Publication Date |
---|---|
RU2032926C1 RU2032926C1 (en) | 1995-04-10 |
RU92008059A true RU92008059A (en) | 1996-01-27 |
Family
ID=20132524
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
RU9292008059A RU2032926C1 (en) | 1992-11-24 | 1992-11-24 | Method of control over equidistant traffic of vehicles and method of determination of angular and linear-side deviation of vehicle from reference path |
Country Status (1)
Country | Link |
---|---|
RU (1) | RU2032926C1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8731777B2 (en) * | 2009-08-18 | 2014-05-20 | Crown Equipment Corporation | Object tracking and steer maneuvers for materials handling vehicles |
EP2905204B1 (en) * | 2012-10-04 | 2017-07-19 | Nissan Motor Co., Ltd | Steering control device |
RU2513634C1 (en) * | 2012-12-04 | 2014-04-20 | Юрий Николаевич Макрушин | Triangular radio measurement complex for detection of rectilinearity of furrows in ploughing of land plots by agricultural units |
-
1992
- 1992-11-24 RU RU9292008059A patent/RU2032926C1/en active
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