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CAN 기반 분산 제어를 위한 시스템 구성 및 ATV 모델링의 실험적 검증
송호인(Hoin Song),백운혁(Woonhyuk Baek),김순태(Soontae Kim),장세용(Seyong Jang),송봉섭(Bongsob Song) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.10
This paper presents the development of a CAN-based distributed control system and hierarchical software architecture for longitudinal control of ATV. Moreover, as a prerequisite to develop a longitudinal controller, the longitudinal control model of ATV is validated experimentally using the proposed distributed system. In order to develop an autonomous ATV as an ultimate goal, the distributed control system and its software architecture with modularity is more efficient than a centralized control system with respect to real-time computation, debugging, and add/modification of functions. In this paper, angle of DC motors for throttle and brake control, angular velocity of engine and wheel, and data of GPS/IMU are measured and processed via the distributed DSPs, and communicated among them through CAN. Finally, the proposed longitudinal control model of ATV is validated with the experimental data.