| 摘要 |
Abstract 5 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 10 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. 11 13 speed 7 speed steern g a Ib ipsering sin -1 /wb -- X Jdt -- sin X -oJdt Figq.7 " 37 rp 25 33 13 speed speed command error ilu teigs 7 af sb,Ks~sin(ba) 38 1, 32KsV Fig. 8(a) 25 33 speed speed command errorinusteng a f |
