Separation of control quality and measurement accuracy for guiding control tasks of an indoor construction machine simulator
Separation of control quality and measurement accuracy for guiding control tasks of an indoor construction machine simulator
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控制质量和测量精度的分离，用于指导室内施工机械模拟器的控制任务
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发表时间：
2012
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通讯作者：
A. Beetz
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作者：
A. Beetz
工程大地测量研究所（IIGS）开发了一种室内建筑机械模拟器，用于在控制回路中操作时对测速仪、附加传感器和卡尔曼滤波器进行调查，以指导建筑机械的任务。在该模拟器中，遥控模型车辆以1：14的比例使用，其将工程机械的运动学行为投射到接近现实的位置。与控制计算机、遥控器和作为位置传感器的机器人测速仪相结合，可以自主地在给定的轨迹上引导模型车辆。控制的目的是引导车辆尽可能在给定的轨迹。为了描述所实现的控制质量，在测试驱动期间，利用给定轨迹和车辆位置之间的横向偏差来计算均方根（RMS）。由于测距仪的位置精度（3-10 mm），RMS不仅代表控制质量。还有一个随机的部分，包括伪造的控制质量的结果。在本文中，将显示的测量设置，这使得它可以使用一个测速仪作为位置传感器的控制任务和激光跟踪仪（精度小于1毫米）作为参考传感器的车辆轨迹同时。通过使用该测量设置的结果，将有可能分离测速仪的控制质量和位置精度。在试驾过程中，测速仪的测量精度可以达到1-3 mm左右。因此，通过使用PID控制器，在10 cmls的速度（沥青摊铺机的平均速度）下，实现的控制质量为2-4 mm。此外，还可以在试驾过程中显示系统效应的影响，例如使用3600棱镜。
An indoor construction machine simulator has been developed at the Institute of Engineering Geodesy (IIGS) to carry out investigations of tachymeters, additional sensors and Kalman filters during the operation in control-loops for guiding tasks of construction machines. In this simulator remote-controlled model vehicles are used in a scale of 1:14 which project the kinematic behaviour of construction machines close to reality. In combination with a control computer, a remote control, and a robot tachymeter as position sensor, it is possible to guide the model vehicles on a given trajectory autonomously. The control aim is to guide the vehicles as well as possible on the given trajectory. To describe the achieved control quality, a Root Mean Square (RMS) is computed with lateral deviations between the given trajectory and vehicle positions during a test drive. Due to the achieved position accuracy of the tachymeters (3-10 mm), the RMS represents not only the control quality. There is also a random part included which falsifies the result of control quality. In this paper a measurement setup will be shown which makes it possible to use a tachymeter as position sensor for the control task and a laser tracker (accuracy less than 1 mm) as reference sensor for the vehicle trajectory simultaneously. By using the results of this measurement setup it will be possible to separate control quality and position accuracy of the tachymeter. During the test drives a measurement accuracy of the tachymeters of around 1-3 mm could be reached. Thereby, the control quality achieved was 2-4 mm by using a PID controller at a velocity of 10 cmls (average speed of an asphalt paver). Furthermore, it is possible to show the influence of systematic effects during the test drives e.g. due to the use of 3600 prisms.