| 摘要 |
PROBLEM TO BE SOLVED: To improve responsiveness and convergence with respect to control by performing feedback control so as to dissolve the deviation between a detected distance between cars and a target distance between cars using model condition variable. SOLUTION: A laser radar 12 detects a steric hinderer. A controller 20 composed of a microprocesser finds a distance between cars from the radar output, outputs a control command and drives a throttle motor 14. In order to control the distance between cars, throttle motor control amount is determined so that the deviation between the target distance bewteen cars and the actual distance between cars may be zero. The condition variable is estimated by using an observer, multiplies it by an observer gain and returns it. An automatic model outputs the distance between cars by inputting throttle manipulation but, by using the observer, it is rewritten to a model outputting the throttle manipulation amount from the input of distance between cars. The distance between cars is inputted into the automatic model and fedback so that the difference between the detected value may be converged to zero. Thus responsiveness and convergence with respect to control can be improved.
|
