| 遥控履带车辆的转向控制方法 |
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| 引用本文： | 吴绍斌,陈慧岩,郑慕侨. 遥控履带车辆的转向控制方法[J]. 北京理工大学学报, 2007, 27(8): 680-683 |
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| 作者姓名： | 吴绍斌 陈慧岩 郑慕侨 |
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| 作者单位： | 北京理工大学,机械与车辆工程学院,北京,100081;北京理工大学,机械与车辆工程学院,北京,100081;北京理工大学,机械与车辆工程学院,北京,100081 |
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| 摘 要： | 为提高遥控履带车辆的操纵稳定性,研究了转向控制系统的控制方法.遥控履带车辆的转向控制由转向控制系统执行遥控驾驶指令控制转向拉杆行程予以实现.基于系统输入/输出关系构建了遥控转向操纵闭环系统模型,分析了遥控车辆的转向操纵特性.从人工转向操纵的特点出发,针对遥控信息环节引入的时间滞后,设计了预测和断续转向控制方法.试验证明,转向控制方法能够满足遥控履带车辆的方向控制要求.
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| 关 键 词： | 遥控履带车辆 转向控制系统 预测控制 断续转向控制 |
| 文章编号： | 1001-0645（2007）08-0680-04 |
| 收稿时间： | 2007-04-05 |
| 修稿时间： | 2007-04-05 |
Steering Control Methods of Remote-Operated Tracked Vehicle |
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| WU Shao-bin,CHEN Hui-yan and ZHENG Mu-qiao. Steering Control Methods of Remote-Operated Tracked Vehicle[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2007, 27(8): 680-683 |
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| Authors: | WU Shao-bin CHEN Hui-yan ZHENG Mu-qiao |
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| Affiliation: | School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | In order to improve the directional stability of remote-operated tracked vehicle,control methods for steering control system were studied.The steering control system executed steering instructions and maneuvered steering levers to realize remote steering control.The model of remote-operated steering control system(RSCS) was established based on the input/output relation and the characteristics of RSCS were analyzed.The prediction control and intermittent steering control methods were designed based on characteristics of manual operation and the time delay of remote driving information.Experiment results show that the methods satisfy the heading control demands of remote-operated tracked vehicle. |
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| Keywords: | remote-operated tracked vehicle steering control system prediction control intermittent steering control |
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