Vehicle Steering Control with Learned Straight-Ahead Angle
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing vehicle manufacturing systems face challenges in accurately controlling the steering angle of vehicles during self-propelled transportation due to individual differences in steering motors and mechanisms, leading to inaccuracies in maintaining a straight-ahead path.
Innovation Solution
A vehicle manufacturing system that includes an acquisition unit for setting a straight-ahead steering angle, a detection unit for position information, a first control unit for feedback control along a straight route, an update unit for updating the steering angle based on travel results, and a second control unit for adjusting feedback and feedforward components to enhance steering accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a fixed straight-ahead steering angle is used in the control system, then the control structure remains simple, but steering accuracy deteriorates due to individual differences in steering motors and mechanisms
Solution Approach 1:
The system performs preliminary learning of the straight-ahead steering angle during a dedicated learning period before normal transportation. The learning control unit acquires the actual steering angle when the vehicle travels straight ahead and stores it as the straight-ahead steering angle. This preliminary action ensures accurate steering control in subsequent operations without adding complexity to the normal control structure.
Solution Approach 2:
The vehicle's own travel data is used to self-correct the steering angle. The learning control unit utilizes the vehicle's actual travel behavior to automatically determine the accurate straight-ahead steering angle, eliminating the need for external calibration equipment or complex adjustment mechanisms. The system serves itself by using its own operational data to improve accuracy.
2Productivity
If the vehicle travels at high speed, then productivity is improved, but steering control accuracy deteriorates due to increased sensitivity to steering errors
Solution Approach 1:
The system performs preliminary learning of the accurate straight-ahead steering angle before high-speed transportation. By establishing the correct baseline steering angle during the learning period, the system ensures that subsequent high-speed travel maintains positional accuracy without requiring reduced speed. The feedforward control uses this pre-learned angle to compensate for individual vehicle differences.
Solution Approach 2:
The system combines feedforward control using the learned straight-ahead steering angle with feedback control based on actual position detection. The feedback control unit continuously monitors the vehicle's position and adjusts the steering angle to maintain accurate path following, enabling high-speed operation while preserving positional accuracy through continuous correction.
Data Source
AI summary
A vehicle manufacturing system includes: acquisition unit for acquiring a set value of a straight-ahead steering angle; detection unit for detecting position information on a position of the vehicle; a first control unit for performing a feedback-control of a steering angle of the vehicle in accordance with a straight route and the position information in such a way that the vehicle moves along a straight route in a first period; update unit for updating the set value of the straight-ahead steering angle in accordance with a result of traveling in the first period to obtain an update value; and a second control unit for controlling the steering angle by making distributions of a feedback component and a feedforward component change from those in the control in the first control unit in a second period in which the vehicle moves to a second point.