AUTOMATIC CONTROL SYSTEM OF TRAJECTORY MOVEMENT OF VEHICLE WITH FUNCTION OF TRAVEL STABILITY

摘要

FIELD: motion control system.;SUBSTANCE: invention relates to automatic control over movement of wheeled vehicles. System for automatic control of trajectory movement of vehicle, including two regulators, which inputs are connected to unit of reference trajectory, and common output - to input of steering control. In the first regulator, the input of the first amplifying link is connected to the first output of the trajectory deviation calculation unit, the input of the second amplifying link is connected to the second output of the trajectory deviation calculation unit, input of the third amplifying link is connected to the third output of the trajectory deviation calculation unit, the output of the first amplifying link is connected to the first input of the first adder, the output of the second amplifying link is connected to the second input of the first adder, output of the third amplifying link is connected to the third input of the first adder, the output of the first adder is connected to the input of the relay element, the output of the relay element is connected to the input of the relay element, the output of the relay element amplifier is connected to the first input of the first integrating link.;EFFECT: higher stability of automatic trajectory movement of vehicle.;3 cl, 1 dwg