查詢結果分析
來源資料
頁籤選單縮合
題名 | 農業用自動導引車轉向特性之研究=The Study of Directional Characters on Autonomous Navigated Vehicle for Agriculture |
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作者姓名(中文) | 郭鳳瑞; 李春壽; 盛中德; | 書刊名 | 嘉義技術學院學報 |
卷期 | 62 1999.02[民88.02] |
頁次 | 頁57-70 |
分類號 | 434.25 |
關鍵詞 | 導引車; 循跡; Self-guided vehicle; Track trailing; |
語文 | 中文(Chinese) |
中文摘要 | 本研究內容主要為研發一油壓驅動的四輪驅動及四輪轉向自動導引車,具有迴轉 半徑小,扭矩高及富機動性等優點,由於此導引車對行走路徑校正容易,適於自動循跡系統 使用。 針對電位感測器及導引車之行進轉向特性進行測試,以微處理機預先設定四種運動軌跡(直 線、倒 U 字型、┌型、﹁型),再驅使導引車依所設定軌跡進行循跡運動, 經由觀察及記 錄其循跡的精確度與準確度,進一步了驗証導引車具有良好的機械性能與循跡性能。 根據試驗結果分析, 導引車在 0.477km ╱ h ∼ 3.13km ╱ h 的範圍內行駛,車速對迴轉 半徑影響甚小。電位感測器能準確量測車輪的轉向角度,電壓值與轉向角度呈線性關係,其 相關係數達 0.99 以上。導引車在預先設定軌跡的控制模式下,其四種運動軌跡之重現性、 精確度與準確度均高,行走性能穩定,循跡功能良好。 |
英文摘要 | The purpose of this study is to develop a 4-wheel driven and steering vehicle which is driven with hydraulic power. It is a self-guide vehicle in movement. The developed vehicle has the following good characteristic features: small turning radium, high torque and mobile,...etc. Since the vehicle has the ability of adjusting its direction in movement easily, it is adapted to become a self-guided automatic vehicle. A linear position transducer is adapted in this study to control and adjust the vehicle direction in movement. Four different movement tracks, which are linear, U-shape, ┌ shape, and ﹁ shape, are designed in advance with a micro-processor. The processor is used to guide the vehicle movement, which follow the designed tracks. Through observing and recording its movement tracks, the abilities of movement and track tracing of the developed vehicle are tested and analyzed. According to the experimental results, its moving speed range is from 0.447km/hr to 3.13km/hr. The speed is irrelevant to the least turing radium. The adapted linear position transducer can measure the turing angle precisely. There exists a highly linear relationship between the turing angle and output voltage for the linear position transducer, of which correlation coefficient is 0.99. The vehicle is tested with 4 pre-designed tracts, and shows the good features of repetition, precision, stability in movement, and track tracing. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。