摘要
智能探月车红外循迹自动控制中主要采用反射式红外传感器的模拟光电传感器阵列进行路径检测;通过A/D采样方式检测非线性模拟量,对传感器采样数据及相对误差进行处理,引入变尺度增量式PID控制算法,对控制参数采用实时非线性整定,实现智能闭环控制;另外,应用模糊控制技术推导增量式PD计算公式,通过编程设定可调节参数以改善小车寻迹的灵敏度和稳定性;实践证明该方法可以缩短探月车的控制响应时间,降低随机干扰,优化循迹路线,有效地克服其在行驶中易产生振荡、转弯时反应迟钝、机动性差的缺点。
In Intelligent Lunar Vehicle＇s infrared tracking automatic control, using reflective infrared sensor array for the analog photoelectric sensor detects the path. Process the sensor data and relative error through the detection of nonlinear analog A / D sampling, real-- time process and non--linearized the control parameters in the PID variable scale incremental control algorithm; In addition, incremental PD formula can be derived by fuzzy control technology and the sensitivity and stability of the car tracing can be improved by adjusting the parame ters in programming. It has been proved by that this method can shorten response time of the lunar exploration vehicle, reduce the random interference, optimize the tracking line, effectively eliminate oscillation and slow response of turn, at the meantime it can also improve mobility.
出处
《计算机测量与控制》
CSCD
北大核心
2012年第10期2704-2705,2709,共3页
Computer Measurement &Control
关键词
红外循迹控制
路径检测
PID算法
智能探月车
infrared traction control
path testing
PID algorithm
intelligent lunar vehicle
