Developing and Evaluating the Context-Aware Performance of Synchronization Control in the Real-Time Network Protocol for the Connected Vehicle

Article; Early Access

关键词: WARNING SYSTEM;    MOBILE ROBOT;    SAFETY;    COMMUNICATION;    ENVIRONMENT;    TRACKING;    VELOCITY;    IOT;   

DOI  :  10.1007/s11036-023-02182-y

来源: SCIE

【 摘 要 】

In the context of Industry 4.0, connected vehicles have become one of the trending innovations. The novel concept of this research is to successfully integrate real-time network protocols into automated guided vehicles (AGVs), which are used for various tasks in logistics and supply chain, such as material transportation. Firstly, the cutting-edge techniques of EtherCAT networks are introduced as a background and urgent topic for both industries and researchers. Then, several enhanced mechanical designs are described to embed the required hardware into the current platform. Thirdly, theoretical development and mathematical computations regarding the mechanical design are launched to release the proper parameters. In this stage, a dual loop, including the low-level controller and high-level controller, is primarily innovated. The structure of cross-coupling control is suggested to be implemented due to its ability to compensate for uncertain errors. In addition, each active wheel is driven by a proportional-integral-velocity (PIV) scheme to minimize tracking errors. To certify our approach, validations in both laboratory and experimental scales are fulfilled under the same conditions. The comparative performance between EtherCAT-based cross-coupling (EbC) and pulse generation-based control (PGbC) is exemplified in tracking linear and circular trajectories. The contributions of this work are (i) presenting the first idea to embed the EtherCAT-based protocol as the communication network, (ii) demonstrating the mechanical implementation in the current vehicle platform, and (iii) establishing advanced techniques of dual loop controller.

【 授权许可】

Free