http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
MRAC 기법을 이용한 무인 컨테이너 운송차량의 조향 제어
이영진,허남,최재영,이권순,이만형,Lee, Y.J.,Huh, N.,Choi, J.Y.,Lee, K.S.,Lee, M.H. 한국항해항만학회 2000 韓國港灣學會誌 Vol.14 No.3
T his paper presents the lateral and longitudinal control algorithm for the driving of a 4WS AGV(Automated Guided Vehicle). The control law to the lateral and longitudinal control of the AGV includes adaptive agin tuning ability, that is the controller gain of the gravity compensated PD controller can be changed on a real-time. The gain tuning law is derived from the Lyapunov direct method using the output error of the reference model and the actual model, And to show the performance of the presented lateral and longitudinal control algorithm, we simulate toe nonlinear AGV equations of the motion by deriving the Newton-Euler Method, The read path is from quay yard area to docking position in loading yard area. The quay yard area is where the quay crane loads the container to the AGV and the docking position is where the container is transferred to the gantry crane. The road types are constructed in a straight line and J-turn. When driving the straight line, the driving velocity is 6㎧ and the J-turn is 3㎧.
하희권,이영진,윤영진,허남,이만형,Ha, H.K.,Lee, Y.J.,Yoon, Y.J.,Huh, N.,Lee, M.H. 한국항해항만학회 1999 韓國港灣學會誌 Vol.13 No.2
To improve the productivity in the harbor, successful development of an UCT(Unmanned Container Transporter) is needed. Well-designed steering and velocity control systems are the key factor for the development of the UCT. In this paper, a research concerning the achievement of the steering control is introduced. To get an information on the guide line that the UCT should track, the vision system is applied. By using neural network, proper steering angle is gotten fast with less influence of the image disturbance. A simulation based on the UCT kinematics is performed with the measured steering angle, and it shows satisfactory results.