An Unmanned Vehicle Ultimate Dynamics Trajectory Tracking Control System
A control system and trajectory tracking technology, applied in the direction of control devices, etc., can solve the problems of limiting the dynamic performance of unmanned vehicles and failing to achieve high speed of unmanned vehicles.
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[0056] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0057] The present invention provides an unmanned vehicle limit dynamics trajectory tracking control system, the trajectory tracking control system includes: a sensor module and a vehicle controller 9, the peripheral equipment is a steering steering gear 11, a braking steering gear 12, 13, a motor Controllers 19,20, drive motors 17,18, speed reducers 15,16 and wheels 1,2,3,4.
[0058] In the embodiment, the sensor module is the inertial navigation system 10, the shock-absorbing displacement sensors 5, 6, 7, 8 and the rotation angle sensor 14, and the vehicle controller 9 includes a speed file solution module and a calculation control module.
[0059] Such as figure 1 As shown, the inertial navigation system 10 is installed at the center of mass of the vehicle, and is used to obtain information such as the real-time position, attitude, longitudinal speed, ...
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