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A platform for research: civil engineering, architecture and urbanism
TRAVEL CONTROL DEVICE AND TRAVEL CONTROL METHOD
PROBLEM TO BE SOLVED: To realize intended operation of an operator by following up a gradually changing travel state.SOLUTION: A travel control device 2A of a crawler type vehicle 4 of constituting left-right travel parts of crawlers 42L and 42R, comprises an oil machine balance compensation part 10 for generating an operation quantity for eliminating a deviation between a crawler speed command value and a crawler speed measured value and a slip control part 2A for controlling a slip of the crawlers 42L and 42R, and the slip control part 2A comprises a curvature radius estimation part 16 for estimating a slip curvature radius of the crawlers 42L and 42R by inputting a present position signal and an attitude signal from a GNSS/IMU device 46 for measuring a position and an attitude of the crawler type vehicle 4 and a control curvature radius arithmetic operation part 18 for correcting the operation quantity by model prediction of using the estimated slip curvature radius.SELECTED DRAWING: Figure 1
【課題】逐次変化する走行状態に追従することで操作者の意図した操作を実現可能にする。【解決手段】左右の走行部が履帯４２Ｌ，４２Ｒで構成されたクローラ式車両４の走行制御装置２Ａであって、履帯速度指令値と履帯速度実測値との偏差を無くす操作量を生成する油機バランス補償部１０と、履帯４２Ｌ，４２Ｒのスリップを制御するスリップ制御部２Ａと、を備え、スリップ制御部２Ａは、クローラ式車両４の位置及び姿勢を計測するＧＮＳＳ／ＩＭＵ装置４６から現在の位置信号及び姿勢信号を入力して履帯４２Ｌ，４２Ｒのスリップ曲率半径を推定するスリップ曲率半径推定部１６と、推定されたスリップ曲率半径を利用したモデル予測によって操作量を補正する制御曲率半径演算部１８とを具備する。【選択図】図１
TRAVEL CONTROL DEVICE AND TRAVEL CONTROL METHOD
PROBLEM TO BE SOLVED: To realize intended operation of an operator by following up a gradually changing travel state.SOLUTION: A travel control device 2A of a crawler type vehicle 4 of constituting left-right travel parts of crawlers 42L and 42R, comprises an oil machine balance compensation part 10 for generating an operation quantity for eliminating a deviation between a crawler speed command value and a crawler speed measured value and a slip control part 2A for controlling a slip of the crawlers 42L and 42R, and the slip control part 2A comprises a curvature radius estimation part 16 for estimating a slip curvature radius of the crawlers 42L and 42R by inputting a present position signal and an attitude signal from a GNSS/IMU device 46 for measuring a position and an attitude of the crawler type vehicle 4 and a control curvature radius arithmetic operation part 18 for correcting the operation quantity by model prediction of using the estimated slip curvature radius.SELECTED DRAWING: Figure 1
【課題】逐次変化する走行状態に追従することで操作者の意図した操作を実現可能にする。【解決手段】左右の走行部が履帯４２Ｌ，４２Ｒで構成されたクローラ式車両４の走行制御装置２Ａであって、履帯速度指令値と履帯速度実測値との偏差を無くす操作量を生成する油機バランス補償部１０と、履帯４２Ｌ，４２Ｒのスリップを制御するスリップ制御部２Ａと、を備え、スリップ制御部２Ａは、クローラ式車両４の位置及び姿勢を計測するＧＮＳＳ／ＩＭＵ装置４６から現在の位置信号及び姿勢信号を入力して履帯４２Ｌ，４２Ｒのスリップ曲率半径を推定するスリップ曲率半径推定部１６と、推定されたスリップ曲率半径を利用したモデル予測によって操作量を補正する制御曲率半径演算部１８とを具備する。【選択図】図１
TRAVEL CONTROL DEVICE AND TRAVEL CONTROL METHOD
走行制御装置及び走行制御方法
WATANABE MASAAKI (author)
2018-07-19
Patent
Electronic Resource
Japanese
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