Research On Control Method Of Patrol Vehicle On Airport Enclosure Road

In order to ensure that the airport patrol car can complete the task of patrolling on the enclosure road, the hardware of the vehicle motion and the control method are studied. Then,the structure of the electric car and electric control system are designed, also, the motion control instruction is designed based on studying an electric golf car with four-wheel so that the vehicle can drive automatically.A steering control method of the system based on DC-motor is developed by analyzing the s mechanical structure of the steering system. In order to reach semi-autonomous program control such as forward, backward, brake and steering, the longitudinal control hardware architecture of the vehicle and control method is completed by studying the drive control method of the vehicle. Also, the management of the power supply module is proposed in order to meet the reliability and stability demands among the hardware.A fuzzy-PID control method for steering motor, which let the motor control precisely and response quickly is proposed by further analysis of the dynamic steering model. The vehicle can move with the given speed and the mileage can be calculated by the closed-loop control.The method provides accurate service for positioning and navigation of the patrolling, which meets the various requirements while driving automatically.Finally, an open-loop control method based on the speed of the vehicle and angular velocity of the steering is proposed by different states response of the turn angle. The back decision accuracy of the steering wheel is improved by studying the steering control based on the motor encoder and electronic compass. In order to improve the steering control accuracy,a three closed-loop control method is also proposed. According to theses control methods, lots of motion test is done and a set of integrated motion control command which is the driver of navigation and position for the patrol vehicle is proposed. The control methods have important implications for further study of the unmanned vehicles in the open environment.