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1. JP1995119178 - TRAVELLING CONTROLLER FOR CRAWLER TYPE CAR

Office Japan
Application Number 1993265972
Application Date 25.10.1993
Publication Number 1995119178
Publication Date 09.05.1995
Grant Number 2739030
Grant Date 16.01.1998
Publication Kind A5
IPC
G05D 1/02
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
Applicants MITSUBISHI HEAVY IND LTD
三菱重工業株式会社
Inventors MATOBA NOBUAKI
的場 信明
Agents 光石 俊郎
光石 忠敬
Title
(EN) TRAVELLING CONTROLLER FOR CRAWLER TYPE CAR
(JA) 履帯式車両の走行制御装置
Abstract
(EN)

PURPOSE: To allow a car to travel accurately along a target route.

CONSTITUTION: A target-position computing element 21 arithmetically operates a target position (Xt, Yt) from the target route of a car 31 and a current position (Xm, Ym), and a position-deviation computing element 22 aritlmetically operates the positional deviation d of both the current position and the target position. A speed setter 23 for correcting a position arithmetically operates left and right crawler speed difference Vc1 while a target azimuth setter 25 sets a target azimuth t from the target route, the quantity of forward movement L and the current position (Xm, Ym), and an azimuth-deviation computing element 26 arithmetically operates the azimuth deviation of both an azimuth m and the target azimuth t. A speed setter 27 for correcting the azimuth arithmetically operates left and right crawler speed difference Vc2 while an average speed setter 28 arithmetically operates average speed Vcm, and left and right crawler speed is aritluoetically operated from the left and right crawler speed difference Vc1, Vc2 and average speed Vcm.

COPYRIGHT: (C)1995,JPO

(JA)


【目的】 車両を目標ルートに沿ってより正確に走行さ
せることのできる履帯式車両の走行制御装置を提供す
る。


【構成】 目標位置演算器21が車両31の目標ルート
と現在位置(X[m ],Y[m])から目標位置(X[t ],Y[t ])
を演算して位置偏差演算器22が両者の位置偏差Δdを
演算し、位置修正用速度設定器23が左右の履帯速度差
V[c1]を演算する一方、目標方位設定器25が目標ルート
と前進量ΔLと現在位置(X[m ],Y[m ])とから目標方位
θ[t ]を設定して方位偏差演算器26が両者の方位偏差Δ
θを演算し、方位修正用速度設定器27が左右の履帯速
度差V[c2]を演算すると共に平均速度設定器28が平均速
度V[cm]を演算し、この左右の履帯速度差V[c1],V[c2]と平
均速度V[cm]とから左右の履帯速度を演算する。