Integration of Controllers for Filter Algorithms for Construction Machine Guidance

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1 Integration of Controllers for Filter Algorithms for Construction Machine Guidance Alexander Beetz & Volker Schwieger Institute for Applications of Geodesy to Engineering, Universität Stuttgart Structure 1. Simulator for construction machine guidance 2. PID controller 3. Implemented closed-loop loop system stem 4. Anticipated 5. Test drives 6. Results 7. Conclusion 2 1

2 . Simulator for construction machine guidance Position of tachymeter Laptop A/D Remote control Control signals over A/D-converter with reflector in the center of gravity Driving direction v = const. Hardware - Leica TCRP Laptop with A/D Converter - Remote control - Model truck (1:14) Software - LabView 3 Implemented closed-loop system 4 2

3 PID - controller u( t) PID 1 e( t) = K e t + e t dt + T P ( ) ( ) v T n dt K p T n T v Gain for proportional controller (P-Control) Integrate time for I-Control Derivative time for D-Control Step response of a PID-controller 5 Anticipated (a.c.p.) X X Y a. c. p. X a. c. p. = Y c. o. g. = X c. o. g. + sin( θ ) d + cos( θ ) d Orientation θ. Lateral deviation Moving direction Anticipated d (a.c.p.) Center of gravity (c.o.g.) Y 6 3

4 Anticipated (a.c.p.) deviation to center of gravity deviation to anticipated Center of gravity Anticipated 7 Anticipated (a.c.p.) deviation to center of gravity deviation to anticipated Center of gravity Anticipated 8 4

5 Anticipated (a.c.p.) deviation to center of gravity deviation to anticipated Center of gravity Anticipated 9 Anticipated (a.c.p.) deviation to center of gravity deviation to anticipated Center of gravity Anticipated 10 5

6 Anticipated (a.c.p.) deviation to center of gravity deviation to anticipated Faster reaction Center of gravity Anticipated Moment of the steer angle in the opposite direction 11 Anticipated (a.c.p.) deviation to center of gravity deviation to anticipated Center of gravity Anticipated Delayed reaction Moment of the steer angle in the opposite direction 12 6

7 Anticipated (a.c.p.) Starting of the steering for the curve drive with a pre-control Delayed starting of steering Optimal distance between c.o.g. and a.c.p. = delay Correct starting of steering Problem: Distance between c.o.g. and a.c.p. > delay Starting of steering is too early Center of Gravity (c.o.g.) Anticipated computation Point (a.c.p) 13 Anticipated (a.c.p.) 14 7

8 Anticipated (a.c.p.) Transient oscillation with different a.c.p.s 15 Anticipated (a.c.p.) Simulated transient oscillation using LabVIEW : distance between c.o.g. and a.c.p. = half of lateral deviation (25 cm) difference between c.o.g. and a.c.p. = lateral deviation (50 cm) 16 8

9 Test drives Constant parameters for the test drives: starting point (middle of the straight line nearly no lateral deviation) velocity (8-10 cm/s) position of the tachymeter parameters of the Kalman filter 4 laps for each controller without a stop the first lap will be deleted due to errors of transient oscillation at the beginning g of the drive the a.c.p. is 2 cm in front of the c.o.g. (optimum for guiding behaviour) 17 Results 3-point-controller line clot curve a.c. = 5 gon, buffer = m a.c. = 5 gon, buffer = m a.c. = 5 gon, buffer = m Arithmetic mean Lap P-controller K P = K P = K P = Arithmetic mean

10 Results PI line clot curve K P =12.140, T n = K P =12.140, T n = K P =12.140, T n = Arithmetic mean PID K P =25.000, T n =0.150, T v = K P =25.000, T n =0.150, T v = K P =25.000, T n =0.150, T v = Arithmetic mean Lap Results PID-controller 10

11 Results PID-controller without Kalman filter Results 3-point-controller 11

12 Conclusion A control quality of approx. 2.4 mm is achievable (TCRP1201, v=0.08 m/s, range 5-9m). The simulator works in real-time with different controllers in combination with the Kalman filter. The implementation of an anticipated makes the whole system more stable. The anticipated enhances the transient oscillation of the vehicle for lateral controlling. Next steps Reduction of the systematic oscillation. Implementation of a dynamic anticipated. Integration of height control and longitudinal control for a real 3Dsimulator. Thank you very much for your attention!!! Contact: Dipl.-Ing. Alexander Beetz / PD Dr.-Ing. Volker Schwieger Institut für Anwendungen der Geodäsie im Bauwesen Institute for Applications of Geodesy to Engineering Universität Stuttgart Geschwister-Scholl-Str. Str 24 D Stuttgart Phone: / Fax: alexander.beetz@iagb.uni-stuttgart.de / volker.schwieger@iagb.uni-stuttgart.de 12

13 Test drives Determination of value K p Steering angle: u( t) = K e( t) p Resulting radius: l R = u(t) l Wheelbase of model truck 25 13

Steering Method for Automatically Guided Tracked Vehicles

Steering Method for Automatically Guided Tracked Vehicles Otto LERKE and Volker SCHWIEGER, Germany Key words: Tracked Vehicles, Robot Tachymeter, Steering Method SUMMARY The objective of this contribution