摘要
为了进一步提高在电磁轨道上寻迹的智能车信号检测系统的可靠性,将传统的基于电磁传感器的信号检测算法进行了改进。智能车安装3个电感,左右两电感判断智能车偏离轨道坐标的符号;中间电感借助感应电动势差比和判断智能车的偏离轨道坐标的大小。实践表明,该算法可靠,效率高,能使智能车稳定地循线行驶。采用新算法,轨道检测系统的单调工作区间能够大大地扩大至整个实数空间,结合PID算法能够准确计算出智能车舵机的偏角。
In order to further improve the reliability of the signal detection system of a smart car while the car traces on an electromagnetic track,the traditional signal detection algorithm based on electromagnetic sensor has been improved.The smart car is equipped with three inductors.The left inductor and the right one determine the symbol of off-track coordinates of the smart car,and the middle inductance determines the coordinate size of the smart car by induced electromotive force.The algorithm is simple and easy to program.Practice shows that the algorithm is reliable and efficient,and enables smart cars to travel steadily.With the new algorithm,the monotonic working range of the orbit detection system can be greatly expanded to the whole real space.Combined with the PID algorithm,the deflection angle of the steering gear of the smart car can be accurately calculated.
作者
杨子义
陈梦婷
YANG Ziyi;CHEN Mengting(School of Electronic&Communication Engineering,Guiyang University,Guiyang 550005,China)
出处
《实验室研究与探索》
CAS
北大核心
2019年第12期37-39,88,共4页
Research and Exploration In Laboratory
基金
国家自然科学基金资助项目(61264004)
贵阳学院2018年在职博士启动项目(GYU-ZRD(2018)-030)
贵阳学院教改项目(201842113)
关键词
电磁传感器
智能车
循线算法
electromagnetic sensors
smart car
follow-line algorithm
