摘要
以一种模型汽车为硬件平台,基于MC9S12DG128单片机为核心控制单元,红外光电传感器为检测手段,设计制作一种自动寻迹智能车控制系统.在设计中,将外部轨迹的动力学模型分析简化后作为内建模型,采用非线性PD算法智能控制方案,进行舵机方向、速度调节,以缩短智能车的控制响应时间,最终实现了模型车在规定路径上,自主识别路线、快速行驶.实验证明,系统能很好地满足智能车对路径识别性能和抗干扰能力的要求,速度调节响应时间快,稳态误差小,具有较好的动态性能和良好的鲁棒性.
A model car is used as the hardware platform,MC9S12DG128 MCU is taken as the core control unit,infrared photoelectric sensor is used as the detection of means,an control systems of the automatic tracing intelligent vehicle is designed in this paper.The simplified kinetic model of external locus is used as a built-in model,nonlinear PD algorithm is adapted for steering direction and speed regulation to shorten the response time of controlled intelligent vehicles,so the model cars can be self-identification line and fast-moving on the prescribed path ultimately.Experiments show that the system meet the requirements of self-identification line and interference of intelligent vehicles,and it has quick adjustment of speed response time,smaller steady-state error,and good dynamic performance and good robustness.
出处
《沈阳理工大学学报》
CAS
2010年第2期57-60,81,共5页
Journal of Shenyang Ligong University
关键词
智能车
路径识别
传感器
intelligent vehicle
path identification
sensor
