Abstract
In order to improve the control performance of the robot driver, the dynamic analysis of its key parts such as throttle and brake mechanical legs are carried out, furthermore, a co-simulation platform of the robot based on speed control is built, and the movement of the robot in the process is analyzed. The mechanical leg’s dynamic simulation model is built by ADAMS, and then the vehicle model is built by CarSim while the electromechanical co-simulation model “Robot Driver—Vehicle” is built based on the closed-loop speed control in MATLAB/Simulink. Simulation results show that the dynamic model of mechanical leg has good dynamic response; In addition, the electromechanical co-simulation model is able to complete the basic speed tracking simulation experiment, so as to provide a virtual simulation platform to improve the mechanical structure and control strategy.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Lu, H.P., Li, R.M.: Developing trend of ITS and strategy suggestions. J. Eng. Stud. 3(1), 6–19 (2014)
Thiel, W., Grof, S., Hohenberg, G., et al.: Investigations on robot driver for vehicle exhaust emission measurements in comparison to the driving strategies of human drivers. SAE Paper, 982642 (1998)
Namik, H., Inamura, T., Stol, K.: Development of a robotic driver for vehicle dynamometer testing. In: Proceedings of 2006 Australasian Conference on Robotics and Automation, Auckland, New Zealand, pp. 1–9 (2006)
Holschuh, N., Winckler, J., Probst, H., et al.: Performance of a mechanized driver for measurement of automobile exhaust gas emissions and fuel economy on chassis dynamometer. SAE paper No. 910037, pp. 1–5 (1991)
Zhang, W.G., Chen, X.B.: Key technologies of vehicle robot driver. J. Jiangsu Univ. (Nat. Sci. Ed.) 26(1), 20–23 (2005)
Wang, X.R.: Development and application of modeling and simulation technology. Mach. Build. Autom. (01), 1–45 (2010)
Ma, Y.H., Niu, Z.G.: Dynamic simulation of clutch robot leg of robot driver based on ADAMS. Mech. Manage. Dev. 24(3), 152–153 (2009)
Jiang, H., Yue, J.G., Hu, L.D.: Fuzzy control strategy study of servo system in robotic driver. Syst. Simul. Technol. 9(1), 61–65 (2013)
Li, Q.X.: Servo System and Electrical Control of Machine Tool. China Machine Press, Beijing, pp. 240–242 (1994)
Ministry of Environmental Protection of the People’s Republic of China, GB 18352.3-2005. Limits and Measurement Methods for Emissions from Light-duty Vehicles (CHINA 5). Standards Press of China, Beijing, pp. 44–48 (2005)
Acknowledgments
Thanks to National Natural Science Foundation of China for funding (No.61371076, No.51105021).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer Science+Business Media Singapore
About this paper
Cite this paper
Liu, K., Xu, G., Yu, G. (2017). Robot Driver’s Motion Analysis and Simulation Based on Vehicle Speed Control. In: Lu, H. (eds) Proceedings of the Second International Conference on Intelligent Transportation. ICIT 2016. Smart Innovation, Systems and Technologies, vol 53. Springer, Singapore. https://doi.org/10.1007/978-981-10-2398-9_8
Download citation
DOI: https://doi.org/10.1007/978-981-10-2398-9_8
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-2397-2
Online ISBN: 978-981-10-2398-9
eBook Packages: EngineeringEngineering (R0)