|
| |
|
|
|
|
||||
| Home Help Feedback Subscriptions Archive Search Table of Contents | ||||
|
Fig. 14. The measured control characteristics of the bumblebee system are compared
with the characteristics of a human pilot-vehicle system
(McRuer and Jex, 1967). For
the human system, the control characteristics are fitted with a transfer
function, H(s)=
gc,human/s·e-
e,humanS (the
crossover model). On the other hand, the control characteristics in the
bumblebee system can be approximated as
B(s)=[gc,bumblebee/(s+3)]2.e-e,bumblebeeS,
which could be called `the square crossover model'. The bumblebee system is
observed to possess higher gain at <gc than the
human system, indicating higher performance in terms of the steady-state
characteristics. The gain crossover frequency in the bumblebee system
(gc,bumblebee) is approximately twice as large as that in
the human pilot-vehicle system (gc,human). Because larger
gc causes larger bandwidth in the system, the bumblebee
system is revealed to possess superior quick response characteristics. We
already verified that the bumblebee system possesses substantial phase margin
(PM; Fig. 13), indicating that
the system possesses excellent damping characteristics. The bumblebee system
was, therefore, revealed to have superiority in terms of the steady-state and
transient (i.e. quick response and damping) characteristics, in comparison
with the human pilot-vehicle system.
|
