Speed Tracking Control of a Vehicle Robot Driver System Using Multiple Sliding Surface Control Schemes

Transcription

1 Inrnaional Journal of Avanc Roboic Sysms ARTICLE Sp Tracking Conrol of a Vhicl Robo Drivr Sysm Using Mulipl Sliing Surfac Conrol Schms Rgular Papr Gang Chn 1,*, Wi-gong Zhang 2 an Xiao-na Zhang 3 1 School of Mchanical Enginring, Nanjing Univrsiy of Scinc an Tchnology, Nanjing, China 2 School of Insrumn Scinc an Enginring, Souhas Univrsiy, Nanjing, China 3 Collg of Hyromorology, Nanjing Univrsiy of Informaion Scinc & Tchnology, Nanjing, China * Corrsponing auhor [email protected] Rciv 5 Aug 212; Accp 24 Sp 212 DOI: / Chn an Zhang; licns InTch. This is an opn accss aricl isribu unr h rms of h Craiv Commons Aribuion Licns (hp://craivcommons.org/licnss/by/3.), which prmis unrsric us, isribuion, an rproucion in any mium, provi h original work is proprly ci. Absrac To ovrcom h rawbacks of using a raiional proporional ingral rivaiv (PID) conrol mho for a robo rivr sysm, such as rquiring prliminary offlin larning, big ovrshoo an larg sp flucuaion, a nw mho for sp racking of a robo rivr sysm bas on sliing mo conrol is propos in his papr. Firsly, h coorina conrol mol of mulipl manipulaors for h robo rivr is buil, which achiv coorina conrol of h hrol mchanical lg, cluch mchanical lg, brak mchanical lg an shif mchanical arm for h robo rivr. On h basis of his, a sp racking sliing mo conrollr for a vhicl robo rivr is sign using h mho of mulipl sliing surfacs sign, an h variabl srucur conrol laws of hrol an brak ar sign rspcivly, which raliz h sp racking of h givn riving s cycl. Exprimnal rsuls monsra ha compar wih h PID conrol mho, h propos mho can obviously ruc h ovrshoo of vhicl sp racking conrol an graly improv h accuracy of vhicl sp racking. Th vhicl sp racking accuracy says wihin a olranc ban of ±2 km/h, which ms h rquirmns of naional vhicl s sanars. Furhrmor, h acion of h sp racking conrol in h sam riving s cycl using h propos mho is consisn, so ha h robo rivr has goo rpaabiliy. Thrfor, i can nsur h ffcivnss of h vhicl mission s. Kywors Vhicl, Robo Drivr, Sp Tracking Conrol, Mulipl Sliing Surfacs 1. Inroucion Wih h rapi incras of vhicl us, h amoun of polluion nring h amosphr gnra by vhicl xhaus mission gas is incrasing. Du o h incrasingly sric laws of nvironmnal procion, vhicl mission rgulaions hav bcom mor an mor rigi. Consqunly, h auomobil inusry has bn rying har o cras h quaniy of xhaus gas missions an improv ful conomy [1]. A convnional way o masur h lvl of vhicl mission is usually ma by a skill human rivr following a prscrib Gang Chn, Wi-gong Zhang an Xiao-na Zhang: In Sp J Av Tracking Roboic Sy, Conrol 213, of Vol. a Vhicl 1, 9:213 Robo Drivr Sysm Using Mulipl Sliing Surfac Conrol Schms 1

2 riving s cycl. Howvr, h variabl naur of human rivr s bhaviour graly influncs mission s rsuls. A robo rivr is a kin of spcial robo ha can auomaically riv unr angrous coniions an harsh nvironmns. Insa of a human rivr, i can b insall in h cab wihou h n for moificaions an i can b aap o iffrn yps of vhicls. Th ky chnologis of vhicl robo rivr ar sill scr in vlop counris an only a fw vlop counris possss h chnology [2 5]. Thr is h DNC 1 an DNC 2 yp robo rivr vlop by Souhas Univrsiy an Nanjing Auomobil Rsarch Insiu in China wih inpnn inllcual propry righs [6 9]. Compar wih h human rivrs, a vhicl robo rivr has avanags of rucing s im, cos an improving s accuracy. I can fr human rivrs from uncomforabl an ious working coniions, provi mor rliabl an rpaabl s rsuls han ha of a human rivr, an markly quickn h rsarch an vlopmn procur of nw vhicl yps. A vhicl robo rivr mus compl a spcifi riving cycl, in orr o raliz h racking of h prscrib arg vhicl sp, which is on of h ky chnologis. Kai Mullr, al. appli H conrol o sp racking, which can ffcivly inhibi uncrain xrnal isurbancs an h uncrainy of vhicl paramrs. Howvr, h ajusmn of conrol paramrs is vry complx [1]. Chn Xiaobing, al. uiliz variabl paramr PID conrol o raliz h sp racking of a robo rivr. Howvr, is conrol paramrs hav h ifficuly of uning an sp flucuaion [11]. Oscar Casillo, Ricaro Marinz Marroquin, al. scrib h applicaion of An Colony Opimizaion (ACO) an Paricl Swarm Opimizaion (PSO) on h opimizaion of h mmbrship funcions paramrs of a fuzzy logic conrollr (FLC) in orr o fin h opimal inllign conrollr for an auonomous whl mobil robo [12]. Abraham Mlnz, Oscar Casillo, al. scrib h raciv an racking conrol of a mobil robo using ingraion mhos o combin h rspons of boh yps of conrols bas on fuzzy logic [13]. Ricaro Marínz Soo, Oscar Casillo, al. sign a Takagi Sugno fuzzy logic conrollr o forc h ral vlociis of h auonomous mobil robo an o saisfy h conrol objciv. Wih rgar o h paramrs of h mmbrship funcions, h minimal an h maximum valus in h sarch rang for h gnic algorihm ar us o fin h bs fuzzy conrollr sysm [14]. Sliing Mo Conrol (SMC) is achiv hrough swiching h conrollr srucur, incluing conrol law or conrol paramrs, accoring o h gr of viaion from sysm saus o h sliing mo, so ha h sysm runs in accoranc wih h law provi by h sliing mo, which has bn wily us in robo conrol, vhicl conrol an ohr aras [15 19]. Bcaus is sliing mo has h invarianc of sysm paramr changs an xrnal isurbancs, an h conrol algorihm is mor robus an rlaivly simpl, in his papr sliing mo conrol is aap o h sp racking of h vhicl robo rivr, which improvs h accuracy of sp racking an h rpaabiliy of riving acion for h robo rivr. 2. Problm Samn Accoring o h rquirmns of anipolluion vics for passngrs cars prscrib in GB ligh uy vhicl mission limis an masurmn mhos (China III an IV sag) ha is a spcifi yp V riving cycl, nw ligh vhicls mus prform an mission urabiliy s for 8 km [2]. A sp abl of urabiliy s consis of 11 cycls an h milag of ach cycl is 6 km. During h prvious nin cycls, h vhicl shoul park four ims in ach cycl an h ngin shoul b il for 15 scons ach im. Th rlaionship bwn isanc an sp in h formr nin cycls is shown in Fig km km an 6 km 5.3 km 4.7 km Dclraion o 32 km / h, an hn acclra o maximum sp loop. Sar - n of h parking, an hn acclra o maximum sp loop. Dclraion o 32 km / h, an hn acclra o maximum sp loop. Parking, an hn acclra o maximum sp loop. 1.1 km Parking, an hn acclra o maximum sp loop. 2.1 km Dclraion o 32 km / h, an hn acclra o maximum sp loop. Dclraion o 32 km / h, an hn acclra o maximum sp loop. Dclraion o 32 km / h, 4.2 km an hn acclra o maximum sp loop. Parking an hn acclra o maximum sp loop. 3.5 km 3.1 km Figur 1. Driving sanar of vhicl mission urabiliy s In h nh cycl, h vhicl shoul run a a sp of 89 km/h. In h lvnh cycl, h vhicl acclras up o 113 km/h from bgin saionary o h maximum acclraion, braking shoul b us o mak h vhicl park a half way hrough h cycl milag, ha is 3 km, hn h vhicl shoul b il for 15 scons, an finally h vhicl acclras again a h maximum acclraion. Th scon an sixh maximum cycl sp ar 48 km/h. Th fifh, svnh an ninh ar 56 km/h. Th firs, hir an fourh ar 64 km/h. Th ighh is 72 km/h. Th nh is 89 km/h. Th lvnh is 113 km/h. Th robo rivr can auomaically riv wihou h n for moificaion o h vhicl insa of a human rivr, an i manipulas h vhicl accoring o h rquirmns of h pr s riving cycl, namly imsp curvs an achivs h coorina conrol of h hrol pal, cluch pal, brak pal an shif lvr. 2 In J Av Roboic Sy, 213, Vol. 1, 9:213

3 3. Th Conrol Mho 3.1 Sysm Configuraion Th vhicl robo rivr primarily consiss of h following componns: mchanical uni ha inclu acuaors for hrol mchanical lg, brak mchanical lg, cluch mchanical lg an shif mchanical arm; snsors for posiion, forc, vhicl sp an ngin sp; moor riv conrol uni. Th robo rivr aops srvo moor riv. Th opraion of h robo rivr is flxibl an rapi lik h human rivr, which ms h movmn rquirmns of rapiiy for h shif an brak, slow moion for h hrol an rapiiy combin wih slow moion for h cluch. Fig. 2 shows h sysm configuraion of h robo rivr. in Fig. 4, whr P is h fix poin of h shif lvr. Th lvr DO2 is whirl aroun O2 hrough h ball scrw rivn by slcing a gar srvo moor, whos roaion angl is 21. Th lvr EO3 is whirl aroun O3 hrough h ball scrw rivn by ngaging a gar srvo moor, whos roaion angl is 31. Th rajcory of P rlas o 21, 21 an h lngh of ach linkag. Th angl coorinas of h shif mchanical arm ar masur by h angl snsors for slcing a gar an ngaging a gar, an h spaial coorinas ar rmin by h angl coorinas. Wih h prmis of no n o chang h vhicl shif mchanism, mchanical coupling bwn boh slcing a gar an ngaging a gar is achiv, an h prcis conrol for h shif mchanical arm of h robo rivr is ulimaly achiv. Th Yaskawa AC srvo moor ma in Japan is us in h all riv sysm for h robo rivr acuaors, whos yp is SGMAH2A, namly, ra powr 2 W, ra sp r/min, maximum sp 5 r/min, ra orqu.637 N m an insananous orqu 1.91 N m. Nos: 1 Slcing a gar moor 2 Ball scrw 3 Angl snsor for slcing a gar 4 Slc h shif mchanism 5 Angl snsor for ngag a gar 6 Ball scrw 7 Engaging a gar moor Figur 2. Sysm configuraion of h vhicl robo rivr Among hm, h hrol mchanical lg is rivn by an AC srvo moor, in orr o achiv high prcision posiioning of h hrol. Th brak mchanical lg is rivn by an AC srvo moor, in orr o achiv h clraion conrol hrough h slf ajusmn of h braking forc. Th cluch mchanical lg is rivn by an AC srvo moor, in orr o ajus h sp, which ms h rquirmns of cluch movmn uring h procss of sar up an shif. Th shif mchanical arm is h ky componn of h vhicl robo rivr, which aops a svn link wo DOF clos chain mchanism is inrnal srucur is shown in Fig. 3. Th svn link wo DOF clos chain shif mchanical arm is compos of a shif linkag mchanism, an angl cion uni an a moion conrol uni. Among hm, h shif linkag mchanism can b simplifi as shown Figur 3. Inrnal srucur of h shif mchanical arm for h vhicl robo rivr Figur 4. Diagram of h shif mchanical arm linkag To achiv h coupling bwn slcing a gar moion conrol an ngaging a gar moion conrol, a h im of picking a gar an ngaging a gar, h ngaging gar moor is only manipula an h slcing gar moor rmains saionary. Convrsly, a h im of slcing a gar, h slcing gar moor is only manipula an h ngaging gar moor rmains saionary. Gang Chn, Wi-gong Zhang an Xiao-na Zhang: Sp Tracking Conrol of a Vhicl Robo Drivr Sysm Using Mulipl Sliing Surfac Conrol Schms 3

4 3.2 Th Conrol Mol A sris of informaion consising of sp v[ i ], im [ i ] an gar g[ i ] is sor in h sp an riving commans abl of h robo rivr, whr i 1,2,, n. Th robo rivr rmins opraing coniions ha is Mo[ i ] accoring o h informaion of v[ i ] an g[ i ], an hn xcus h corrsponing igniion, saring, shif an acclraion in accoranc wih Mo[ i ]. Accoring o h characrisics of V s riving cycl, h robo rivr is abl o jug h coniion ha is acclraion ( v[ i] v[ i 1] ), say sp ( v[ i] v[ i 1] ) or clraion ( v[ i] v[ i 1] ) in accoranc wih h valu of h pr s formr arg sp v[ i ] an currn sp v[ i 1], hn rspcivly nrs hrol or brak conrol moul. Th sp an riving commans abl of 48 km/h riving cycl for h robo rivr is shown in Tabl 1. Th shif coniion is obain from comman abl g[ i ], acclraion v[ i 1] v[ i] a. [ i 1] [ i] No. Manipulaion Gar Sp/(km.h 1 ) Tim/s No. Manipulaion Gar Sp/(km.h 1 ) Tim/s Igniion il 8 23 Dclraing an parking Shif 1s gar Shif 1s gar Saring Saring Shif 2n gar Shif 2n gar Shif 3r gar Shif 3r gar Acclraing Acclraing Consan sp Consan sp Dclraing Dclraing Acclraing Acclraing Consan sp, hn shif nural Consan sp,hn shif gar nural gar 1 Dclraing an Dclraing an parking parking Shif 1s gar Shif 1s gar Saring Saring Shif 2n gar Shif 2n gar Shif 3r gar Shif 3r gar Acclraing Acclraing Consan sp Consan sp Dclraing Dclraing Acclraing Acclraing Consan sp Consan sp, hn shif nural gar 2 Dclraing Dclraing an parking Acclraing Il Consan sp, hn shif nural Ts sopp 99 gar No: In h row of Gar, 8 san for nural gar; 1 san for isngag, shifing 1s gar; 11 san for saring wih 1s gar; 99 san for n of s. Tabl 1. Sp an riving commans abl of 48 km/h riving cycl for h robo rivr Th coorina conrol mol of mulipl manipulaors for h robo rivr is shown in Fig. 5. Accoring o opraional rquirmns, ach manipulaor moion clos loop rspcivly consius braking forc conrol clos loop, cluch sp an posiion conrol closloop, hrol posiion conrol clos loop an shif sp an posiion conrol clos loop. In accoranc wih h s vhicl sp an conrol comman abls, h robo rivr achivs h coorina conrol of h hrol mchanical lg, cluch mchanical lg, brak mchanical lg an shif mchanical arm an ralizs h racking of vhicl sp, whos conrol algorihm aops h sliing conrol mho. Figur 5. Coorina conrol mol block iagram of mulipl manipulaors for h robo rivr 4 In J Av Roboic Sy, 213, Vol. 1, 9:213

5 3.3 Dsign of h Sp Tracking Sliing Mo Conrollr Th aim of sp racking conrol for h robo rivr is o sign a hrol an brak conrol law so ha h s vhicl sp can rack any rasonabl smooh rajcory, ha is h riving s cycl. Th conrollr mus rmin hrol an brak pal rajcory which can mak vhicl sp v rack h sir vhicl sp v. I os no blong o h fil of sanar sliing mo conrollr sign, an hus h mulipl sliing surfac sign mho mus b aop. Th conrollr sign is ivi ino hr sps. (1) Dfiniion of a sliing mo surfac Dfining h sliing mo surfac S1 v v. Assuming ha S v v k1s1 an is xpansion is as follows. S1 F Tr Tc F a v (1) m r m m whr m is h vhicl mass, r is h ir raius, F is h riving forc, T r is h rolling rsisanc orqu, T c is h roa gra rsisanc orqu, F a is h aroynamic 2 rag forc an Fa Cav, C a is h aroynamic rag forc cofficin. Bcaus wihou h applicaion of h hrol an brak pal a h sam im, h hrol conrol an brak conrol ar sparaly consir, ha is h hrol conrol is ncssary only whn S1 an brak conrol is ncssary only whn S1. Bcaus h mission urabiliy s is conuc by h robo rivr on a chassis ynamomr, hr is no n o consir for F a an T c in quaion (1). So 1 F Tr S v (2) m r m Equaion 2 is no a sanar sliing mo formula an h hrol opning gr angl canno b solv by i. Thrfor, som ransforms mus b ma an h inrmia link mus b inrouc, ha is on in orr o obain h xpc fron whl angular vlociy. Th sir urbin angular vlociy of orqu convrr is ( ) ( ) (5) wf ii g whr I w is h whl momn inria, i is h axl raio, i g is h gar raio. If h urbin orqu T an urbin roaional sp of orqu convrr can corrcly rack h rajcory shown in quaion (4) an (5), hn in h limi prio of im S1. Wih h raio is h angular vlociy of urbin an pump ( / p ), an h ngin angular vlociy ( p ), h funcional pnncis of h urbin an h pump orqus ar givn by 2 Tp f1 (, ) (6) T / T f ( ) (7) p whr is h orqu gain from orqu convrr inpu o orqu convrr oupu. Combining quaions (4), (5), (6) an (7), h sir valu of an T p, ha is ( ) an ( T ), can b obain. p (2) Th hrol conrol law Th conrol law of h hrol opning angl is sign by ( ) an ( T p). Dfining anohr sliing mo surfac S2 ( ), afr iffrnial i is S ( ) k S Du o I Ti Tr Tf Tp, yiling: 2 1 ( Ti Tr Tf TP ) (8) I whr I is h ffciv inria of ngin an orqu convrr pump pars, T r is h rolling rsisanc orqu, T f is h ngin fricion orqu Tf , T p is h orqu convrr pump orqus. Assuming ha h lay im is zro, h ngin orqu is [15, 16] ( ) wf k1v k [ 1 F T mr r v k1s1 ] m m r m (3) mao Ti c AFI SI (9) If wf is ircly conroll o rack h ( wf ) rajcory, hn S1 in a limi prio of im. Assuming ha wf ( wf ), an by puing ( wf ) ino quaion 2, yiling: Th sir urbin orqu of orqu convrr is ( ) ( r T T I i i F I ) (4) w g Iw w whr h normaliz air ful influnc, AFI, is a funcion of air o ful raio, an h mpirical formula may b us: AFI cos( ( A / F 13.5)). Th normaliz spark influnc, SI, is a funcion of spark avanc/rar from MBT (minimum spark avanc for bs orqu), an h mpirical formula may b us: SI (cos( SA MBT)), whr SA is h spark avanc/rar from TDC (Top Da Cnr). Th capaciy facor of orqu convrr, c, rprsns h Gang Chn, Wi-gong Zhang an Xiao-na Zhang: Sp Tracking Conrol of a Vhicl Robo Drivr Sysm Using Mulipl Sliing Surfac Conrol Schms 5

6 maximum orqu capaciy of an ngin for a givn air mass an ngin sp. Yiling: whr m I ao opp k2s2 c AFI SI opp [ ( ) ] (1) Tr Tf TP (11) I Th sa quaion for h mass of air in h ngin inak manifol m is givn by coninuiy. a m m m (12) a ai ao whr h mass of air flowing ou of h inak manifol an ino h cylinrs, mao, is rmin from abls provi by h manufacurr. Th mass of air flowing ino h inak manifol is m ai MAX TC PRI (13) whr MAX rprsns h flow ra a full hrol, is h hrol angl, TC is h mpirical hrol characrisic, an PRI is a prssur influnc funcion for Pm comprssibl flow, PRI 1 xp(9 ( 1)), whr P P m is am h inak manifol prssur, P am is h air prssur raio. Combin wih quaion (8), (9), (1), (11), (12) an (13) h sir hrol characrisic can b obain. [ I / ( c AFI SI)][ k s ( ) ] m TC( ) MAX PRI opp 2 2 a (14) accoring o h naional polluion missions sanars for passngr cars issu by h Environmnal Procion Aminisraion [2], a vhicl mission urabiliy s is prform a h Naion Qualiy Suprvision an Inspcion Cnr for Passngr Cars of China by skill human rivrs an h robo rivr. Th sp racking accuracy of h sanars is ±2 km/h. Th yp of s vhicl is a For FOCUS 2., whos ngin volum is 2. L. Th yp of chassis ynamomr is Burk 41. Th vhicl missions urabiliy s sysm consiss of h chassis ynamomr simulaing h riving roa an h robo rivr conucing h auomaic riving insa of a human rivr. Th chassis ynamomr is quipp wih powr absorpion an inria flywhl, which simulas a variy of rsisancs which h vhicl unrgos uring h procss of riving on a sraigh roa, incluing air rsisanc, rolling rsisanc, acclraion rsisanc, c., hus making h s nvironmn consisn wih h roa nvironmn for a vhicl as far as possibl. Th vhicl robo rivr can b insall in h cab nonsrucivly, wihou any n for moificaions o h vhicl. Afr conucing h slf larning of h vhicl gomric imnsions an vhicl prformanc paramrs, h robo rivr can auomaically riv iffrn yps of vhicls. During h s procss, h riving sp an riving insrucions commans of h s cycl ar firsly fin, afr ha, h s is conuc rspcivly by h robo rivr an h skill human rivr. Th robo rivr fix ino h s vhicl an h vhicl urabiliy s using h robo rivr ar shown in Fig. 6. Invring h sir valu of h hrol characrisic TC( ) yils h valu of h conrol,. (3) Th brak conrol law Whn S1 h vhicl ns o brak, an whn h ngin can also provi som brak forc. Whn h hrol angl an h brak angl b ar boh zro, h vhicl clraion is up o.5m/s 2 hrough ngin braking. Consqunly, h brak conrol law is as follows: (a) Robo rivr fix ino h s vhicl k3s1, S1.5 b, S1.5 (15) 4. Exprimnal Rsuls an Discussions 4.1 Exprimn To vrify h ffcivnss of h propos sliing mo conrol mho for sp racking of h robo rivr, (b) Emission urabiliy s using h robo rivr Figur 6. Robo rivr fix ino h s vhicl an h mission urabiliy s using h robo rivr 6 In J Av Roboic Sy, 213, Vol. 1, 9:213

7 4.2 Rsuls an Discussions Th sanar sp racking curv of h mission urabiliy s 72 km/h cycl is shown in Fig. 7. Th rsuls of sp racking h s vhicl manipula by h skill human rivr ar shown in Fig. 8. Sp / km.h -1 Figur 7. Th sanar sp racking curv of h mission urabiliy s 72 km/h cycl Sp / km.h Figur 8. Th rsuls of sp racking wih h s vhicl manipula by h skill human rivr As can b sn from Fig. 8, h human rivr os no compl h s in accoranc wih h naional vhicl s sanars in h rquir im. Sp flucuaion is vry larg in h procss of say sp. Th sp bgins o fall whn i osn rach h cycl sp uring h firs acclraion procss of h firs small cycl, an h sp osn go up immialy whn i falls o cycl sp uring h firs an scon clraion procss of h scon small cycl, which os no m naional sanars. As can also b sn from Fig. 8, h rsuls of sp racking wih h s vhicl manipula by h skill human rivr hav poor rpaabiliy, as h human rivr is asily affc by xprinc, nvironmn an ohr facors. Th rsuls of sp racking an parial comparison curvs, whr h s vhicl was manipula by h robo rivr rspcivly using PID conrol mho an h propos conrol mho, ar shown in Fig. 9 an Fig. 1. Fig. 9(a) an Fig. 1(a) monsra ha h sp racking rsuls using PID conrol hav a larg ovrshoo ha is up o 5 km/h uring h prio from h acclraion procss ino h say sp procss. During h procss of say sp hr is larg vhicl sp flucuaion, which xcs h rquirmns of naional vhicl s sanars. Sp / km.h -1 Sp / km.h -1 (a) Th rsuls of sp racking using PID conrol (b) Th rsuls of sp racking using h propos mho Figur 9. Th rsuls of sp racking h s vhicl manipula by h robo rivr Sp / km.h -1 Sp / km.h Targ sp Sp racking using PID conrol (a) Th parial comparison curvs using PID conrol Targ sp Sp racking using h propos mho (b) Th parial comparison curvs using h propos mho Figur 1. Th parial comparison curvs of sp racking h s vhicl manipula by h robo rivr Fig. 9(a) also shows ha uring h scon acclraion procss of h firs small loop, h hir acclraion procss Gang Chn, Wi-gong Zhang an Xiao-na Zhang: Sp Tracking Conrol of a Vhicl Robo Drivr Sysm Using Mulipl Sliing Surfac Conrol Schms 7

8 of h scon small loop an h scon acclraion procss of h hir small loop, h pak sp os no ris o h cycl sp rquir by naional vhicl s sanars. As can b sn from Fig. 9(b), h rsuls of sp racking h s vhicl manipula by h robo rivr using h propos conrol mho hav goo rpaabiliy. During h s, h vhicl sp is masur using a phoolcric snsor insall in h fron rum of h chassis ynamomr. Th coorina conrol curvs for h mulipl manipulaors of h robo rivr using h propos mho ar shown in Fig. 11. Throl opning / % Cluch opning / % (a) Th conrol curv of h hrol mchanical lg (b) Th conrol curv of h cluch mchanical lg Throl opning gr, brak opning gr an cluch opning gr ar masur by poniomr isplacmn snsors rspcivly insall in h hrol mchanical lg, brak mchanical lg an cluch mchanical lg. Afr h snsors oupu signals ar calibra, h corrsponing hrol opning gr, brak opning gr an cluch opning gr ar obain. Th hrol opning gr, brak opning gr an cluch opning gr ar % whn h hrol mchanical lg, brak mchanical lg an cluch mchanical lg ar no prss a all. Thy ar 1% whn hy ar prss in h n. Manwhil, h gar is masur by a poniomr angl snsor insall in h shif mchanical arm. As can b sn from Fig. 9(b), Fig. 1(b) an Fig. 11, h robo rivr using h propos conrol mho can smoohly achiv saring, acclraion, shifing, say sp an clraion hrough h coorina conrol of h hrol mchanical lg, brak mchanical lg, cluch mchanical lg an shif mchanical arm. Th ovrshoo of sp racking conrol uring ransiion from h acclraion sag o say sag is small. Morovr, h sp flucuaion a h say sag is smooh, an sp conrol accuracy says wihin a olranc ban of ±2 km/h, which ms h rquirmns of naional s sanars. Aiionally, h comparison of conrollr characrisics among h PID conrol an h propos sliing mo conrol is ma in Tabl 2. I shows ha h propos sliing mo conrol sysm is mor suiabl for h sp racking conrol of h vhicl robo rivr. Brak opning / % (c) Th conrol curv of h brak mchanical lg Conrollr PID SMC Conrollr paramrs Priori manual runing Trial an rror Robusnss Tracking rrors/(km.h 1) Rpaabili y Charing phnomna Gnral ±5 Poor Ys Exclln ±2 Exclln No Tabl 2. Comparison of conrollr characrisics Shif In aiion o mission urabiliy ss, h robo rivr can also b appli o ful conomy ss, ransmission losss an powr ransfr prformanc ss, high mpraur an col mpraur nvironmnal ss, vhicl nois ss auomoiv lcromagnic compaibiliy (EMC ) ss, c. 5. Conclusions () Th conrol curv of h shif mchanical arm Figur 11. Th coorina conrol curvs for h mulipl manipulaors of h robo rivr using h propos mho A novl approach o sp racking conrol for a vhicl robo rivr using mulipl sliing surfac conrol schms is propos in his papr, an a sp racking 8 In J Av Roboic Sy, 213, Vol. 1, 9:213

9 sliing mo conrollr for a robo rivr is sign. Morovr, horical analysis an xprimnal valiaion ar ma. Exprimnal rsuls shows ha compar wih h rsuls of sp racking h s vhicl manipula by h skill human rivr an h robo rivr using h PID conrol mho, our robo rivr using h propos mho can graly improv h accuracy of vhicl sp racking an rpaabiliy, which ms h rquirmns of naional vhicl s sanars. Th ffcivnss an fasibiliy of h propos hory an mhos ar vrifi by s rsuls. 6. Acknowlgmns This rsarch is parially suppor by Projc suppor by Naional Naural Scinc Founaion of China an China Posocoral Scinc Founaion fun projc (gran no. 211M5922) 7. Rfrncs [1] S Samul, L Ausin, D Morry. Auomoiv s riv cycls for mission masurmn an ral worl mission lvls a rviw [J]. Procings of h Insiuion of Mchanical Enginrs, Par D: Journal of Auomobil Enginring, 22, 216(7): [2] W Thil, S Grof, G Hohnbrg, al. Invsigaions on robo rivr for vhicl xhaus mission masurmns in comparison o h riving sragis of human rivrs [J]. SAE papr, No : [3] K Schwarz, H Gollingr, A Busch. Acuaor Concps for an Auonomous Roboic Drivr [C]. Procings of IEEE Inrnaional Confrnc on Inllign Vhicls, Sugar, 1998: [4] S Shoval, J P Zybur, D W Grimauo. Robo rivr for guianc of auomaic urabiliy roa (ADR) s vhicls [C]. Procings of h 1998 IEEE Inrnaional Confrnc on Roboics an Auomaion. Luvn: Blgium, 1998: [5] H Namik, T Inamura, K Sol. Dvlopmn of a roboic rivr for vhicl ynamomr sing [C]. Procings of 26 Ausralasian Confrnc on Roboics an Auomaion. Aucklan, Nw Zalan, 26: 1 9. [6] W G Zhang, X B Chn. Ky chnologis of vhicl robo rivr [J]. Journal of Jiangsu Univrsiy (Naural Scinc Eiion), 25, 26(1): [7] X B Ch, W G Zhang. Robo rivr for vhicl urabiliy mission s on chassis ynamomr [J]. Journal of Souhas Univrsiy (English Eiion), 25, 21(1): [8] G Chn, W G Zhang, S Q Chang. Shif Conrol Mho of Vhicl Robo Drivr Bas on Fuzzy Nural Nwork [J]. Transacions of Chins Sociy for Agriculural Machinry, 211, 42(6): [9] G Chn, W G Zhang, Z Y Gong, al. Coorina Conrol of Mulipl Manipulaors for Vhicl Robo Drivr [J]. Chins Journal of Scinific Insrumn, 29, (9): [1] K Mullr, W Lonhar. Compur conrol of a roboic rivr for mission ss [C]. Procings of Inrnaional Confrnc on Inusrial Elcronics, Conrol, Insrumnaion, an Auomaion. San Digo, : [11] X B Chn, W G Zhang, B J Zhang. Suy on sp racking conrol sragy for robo rivr on chassis ynamomr [J]. China Mchanical Enginring. 25, 16(18): [12] Oscar Casillo, Ricaro Marinz Marroquin, Paricia Mlin, Fvrir Valz, José Soria: Comparaiv suy of bio inspir algorihms appli o h opimizaion of yp 1 an yp 2 fuzzy conrollrs for an auonomous mobil robo. Inf. Sci. 192: (212) [13] A Mlnz, O Casillo, A Alanis Garza, J Soria. Raciv an racking conrol of a mobil robo in a isribu nvironmn using fuzzy logic. FUZZ IEEE 21: 1 5 [14] R Marínz Soo, O Casillo, L T Aguilar. Opimizaion of inrval yp 2 fuzzy logic conrollrs for a prurb auonomous whl mobil robo using gnic algorihms. Inf. Sci. 179(13): (29) [15] K D Young, V I Ukin, U Ozgunr. A conrol nginr s gui o sliing mo Conrol [J]. IEEE Transacions on Conrol Sysms Tchnology, 1999, 7(3): [16] J M Yang, J H Kim. Sliing mo conrol for rajcory racking of nonholonomic whl mobil robos [J]. IEEE Transacions on Roboics an Auomaion, 1999, 15(3): [17] C J Fallaha, M Saa, H Y Kanaan, K Al Haa. Sliing Mo Robo Conrol Wih Exponnial Raching Law [J]. IEEE Transacions on Inusrial Elcronics, 211, 58(2): [18] J K Hrick. Nonlinar conrollr sign for auoma vhicl applicaions [C]. Procings of UKACC Inrnaional Confrnc on Conrol, 1998: [19] D Cho, J K Hrick. Auomoiv Powrrain Moling for Conrol [J]. Journal of Dynamic Sysms, Masurmn, an Conrol, 1989, 111(4): [2] Sa Environmnal Procion Aminisraion of China. GB Limis an masurmn mhos for missions from ligh uy vhicl (III, IV) [S]. Bijing: Sanars Prss of China, Gang Chn, Wi-gong Zhang an Xiao-na Zhang: Sp Tracking Conrol of a Vhicl Robo Drivr Sysm Using Mulipl Sliing Surfac Conrol Schms 9