Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 63, Issue 2, Pages 1039-1051Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2015.2477266
Keywords
Automotive test; hierarchical coordinated control; speed tracking; unmanned robot
Categories
Funding
- National Natural Science Foundation of China [51205208]
- Six Talents Peak Project of Jiangsu Province [2015-JXQC-003]
- Prospective Study Project of Production, Studying and Researching of Jiangsu Province [BY2015004-02]
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The paper describes application of unmanned robot applied to automotive test (URAT) to save time, costs, and to improve accuracy of tests. A hierarchical coordinated control method based on fuzzy logic theory is proposed for URAT, to realize the coordinated control and the accurate speed tracking of driving test cycle during all kinds of conditions. The system structure is briefly described in the paper. Similar to a skilled human driver, a control method based on Saridis hierarchical architecture to coordinate multiple robot manipulators systems for the automotive test system is presented. The coordinated movements for throttle mechanical leg, clutch mechanical leg, brake mechanical leg are designed. On top of that, the fuzzy speed controller for URAT is used to accurately track the desired vehicle velocity under different test conditions. Experiments have been conducted by using a Ford FOCUS car. The proposed control method of URAT is experimentally proved and compared with other control methods and with human driver performances.
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