R&D Of Driver Robot For Automobile Test-bed

Automobile durability test system is composed of automatic robotdriver and chassis power meter. The technique of chassis power meter ishold by our country and manufacture by some factory. However, theautomatic robot driver is mostly imported overseas besides mechanicalengineering institute of Dongnan university, because of the advancedtechnology.Though comparing seven-pole framework, this thesis putsforward to a new organization system in the automobile durability test. Theorganization of the shift gear hand has 3 freedoms which is right-anglereference frame.Firstly, though comparing seven-pole framework, the thesis construct a3 freedoms framework which is right-angle reference frame. The frameworkis made up of two uprightness machine arms and three unattached machinelegs. The interspace motion is implemented by two machine arms and aZ-pole. The three machine legs are separately control clutch pedal,accelerograph pedal and arrester pedal. The assembly drawing and partdrawing are draw after designing the parts and selecting the ball bearingthread bar. The results show that the framework is well done and easycontrolled. Secondly, the thesis accomplishes the drive system. By using thesynchronous electrical engineering and its driver, the framework substitutesthe old air pressure system. The control system is a distributing-centersystem and also a mix closed loop position servo system. By using thecomputer and the moving control card based on the chip of DSP, the servoelectrical electromotor is controlled very well. DSP is TMS320C32 made inTI Co. the serve drive is setup on speed mode. DSP and computer is setup.Communication mode is page command and exigency cushion. Someprogram is given. Thirdly, the thesis accomplishes the control system. The speed loop isconstituted of the serve electromotor and the serve drive. The position loopis constituted of DSP card and light electricity coder which put feedbacksignal into DSP and position control computer. As to mathematics model,By analyzing the mathematics model of synchronous electrical engineering,the electric current loop, the speed loop and the position loop, the thesisgets a mathematics model of the whole system. Because the system is socomplex, the model is not nicety. As to the method of the position control, itintroduces the traditional PID calculated way. Finally, it imitates the trueanalysis with MATLAB. Displacement curve and speed curve are given inthe end. Fourthly, led in the show to teach system and compile some control 75...