Automobile power windows are mechanisms that can be opened and shut with the press of a button.Although these windows can comfort the effort of occupancy to move the window,failure to recognize the person’s body part...Automobile power windows are mechanisms that can be opened and shut with the press of a button.Although these windows can comfort the effort of occupancy to move the window,failure to recognize the person’s body part at the right time will result in damage and in some cases,loss of that part.An anti-pinch mechanism is an excellent choice to solve this problem,which detects the obstacle in the glass path immediately and moves it down.In this paper,an optimal solution H_/H_(∞)is presented for fault detection of the anti-pinch window system.The anti-pinch makes it possible to detect an obstacle and prevent damages through sampling parameters such as current consumption,the speed and the position of DC motors.In this research,a speed-based method is used to detect the obstacles.In order to secure the anti-pinch window,an optimal algorithm based on a fault detection observer is suggested.In the residual design,the proposed fault detection algorithm uses theDCmotor angular velocity rate.Robustness against disturbances and sensitivity to the faults are considered as an optimization problem based on Multi-Objective Particle Swarm Optimization algorithm.Finally,an optimal filter for solving the fault problem is designed using the H_/H_(∞)method.The results show that the simulated anti-pinch window is pretty sensitive to the fault,in the sense that it can detect the obstacle in 50 ms after the fault occurrence.展开更多
针对动态窗口法在动态障碍物环境下避障效果差、路径非最优等问题,将改进间隙跟踪法(improved follow the gap method,IFGM)与改进动态窗口法(improved dynamic window approach,IDWA)进行融合。改进间隙跟踪法的效用函数考虑障碍物间...针对动态窗口法在动态障碍物环境下避障效果差、路径非最优等问题,将改进间隙跟踪法(improved follow the gap method,IFGM)与改进动态窗口法(improved dynamic window approach,IDWA)进行融合。改进间隙跟踪法的效用函数考虑障碍物间的间隙大小和智能小车与目标坐标的夹角来寻找可行间隙及合理的航向角;在DWA原有评价函数中引入动态避障函数,使智能小车在面对多个动态障碍物时能灵敏地控制速度,以达到敏捷避障目的。实验结果表明:与传统DWA算法相比,IFGM-IDWA融合算法减少了15%~25%的碰撞率,能够更加灵活地控制智能小车的平移速度和旋转速度,更加有效地保证智能小车运动过程中的安全性,且减少了时间消耗,提高了运动效率。展开更多
基金supported by DP-FTSM-2021,Dana Lonjakan Penerbitan FTSM,UKM.
文摘Automobile power windows are mechanisms that can be opened and shut with the press of a button.Although these windows can comfort the effort of occupancy to move the window,failure to recognize the person’s body part at the right time will result in damage and in some cases,loss of that part.An anti-pinch mechanism is an excellent choice to solve this problem,which detects the obstacle in the glass path immediately and moves it down.In this paper,an optimal solution H_/H_(∞)is presented for fault detection of the anti-pinch window system.The anti-pinch makes it possible to detect an obstacle and prevent damages through sampling parameters such as current consumption,the speed and the position of DC motors.In this research,a speed-based method is used to detect the obstacles.In order to secure the anti-pinch window,an optimal algorithm based on a fault detection observer is suggested.In the residual design,the proposed fault detection algorithm uses theDCmotor angular velocity rate.Robustness against disturbances and sensitivity to the faults are considered as an optimization problem based on Multi-Objective Particle Swarm Optimization algorithm.Finally,an optimal filter for solving the fault problem is designed using the H_/H_(∞)method.The results show that the simulated anti-pinch window is pretty sensitive to the fault,in the sense that it can detect the obstacle in 50 ms after the fault occurrence.
文摘针对动态窗口法在动态障碍物环境下避障效果差、路径非最优等问题,将改进间隙跟踪法(improved follow the gap method,IFGM)与改进动态窗口法(improved dynamic window approach,IDWA)进行融合。改进间隙跟踪法的效用函数考虑障碍物间的间隙大小和智能小车与目标坐标的夹角来寻找可行间隙及合理的航向角;在DWA原有评价函数中引入动态避障函数,使智能小车在面对多个动态障碍物时能灵敏地控制速度,以达到敏捷避障目的。实验结果表明:与传统DWA算法相比,IFGM-IDWA融合算法减少了15%~25%的碰撞率,能够更加灵活地控制智能小车的平移速度和旋转速度,更加有效地保证智能小车运动过程中的安全性,且减少了时间消耗,提高了运动效率。
