RACING VEHICLE GAME

摘要

A method and apparatus for controlling the position of a vehicle on a track so as to provide a slotless racing vehicle game is described. The method involves generating within a primary feedback loop a first input signal for a steering servo of the vehicle so as to minimise an error signal produced by comparing a measured lateral position of the vehicle on the track with its desired position. The method further comprises generating within a secondary feedback loop a second input signal for the steering servo so as minimise a measured angle of orientation of the vehicle on the track. It is found to be advantageous for the stability of the vehicle on the track if responsivity (Klf2) of the secondary feedback loop is set to be equal to the reciprocal of the responsivity (Kss) of the steering servo.

主权项

1. A method for controlling the position of a vehicle on a track wherein the method comprises the steps of:
taking a first measurement of a lateral position of the vehicle on the track; comparing the first measured lateral position with a desired lateral position for the vehicle so as to produce an error signal; generating within a primary feedback loop of a steering servo a first input signal for a steering servo of the vehicle so as to minimise the error signal, the primary feedback loop having a first responsivity (Ks); measuring the angle between the direction of propagation of the vehicle and a longitudinal axis of the track; and generating within a secondary feedback loop of the steering servo a second input signal for the steering servo so as to minimise the measured angle the secondary feedback loop having a second responsivity (Klf2), wherein the second responsivity (Klf2) is made equal to the reciprocal of a responsivity of the steering servo (Kss).