摘要
为了提升智能循迹小车的循迹控制效果,在硬件和软件上对智能循迹小车进行多方位的优化设计。完成了智能循迹小车的机械设计、硬件设计和软件设计。机械结构设计上,对舵机转向结构进行调整性设计。硬件上,对电源模块、信号采集模块、电机驱动模块和避障模块进行设计。软件上,通过优化跑道中心线提取方案,并采用一种新型的带多路选择的复合型PID对智能循迹小车的转向舵机进行优化控制,提升了控制的效果。实验结果表明,该设计方案下的智能循迹小车的循迹效果良好。
In order to improve the tracking control effect of intelligent tracking car,the multi-directional optimization design of intelligent tracking car is carried out in hardware and software.The mechanical design,hardware design and software design of intelligent tracking car are completed.In terms of mechanical structure design,the steering gear structure is designed for adjustment.On the hardware,the power module,signal acquisition module,motor drive module and obstacle avoidance module are designed.In the software,the control effect of steering gear of intelligent tracking car is improved by optimizing the center line extraction scheme of the runway and adopting a new compound PID with multi-path selection to optimize the control.The experimental results show that the tracking effect of the intelligent tracking car is good.
作者
胡徐胜
刘娟
HU Xu-sheng;LIU Juan(Key Laboratory of Unmanned Aerial Vehicle Development&Data Application of Anhui Higher Education Institutes,Wanjiang University of Technology,Maanshan 243031,China;Ma’anshan Engineering Technology Research Center for Wireless Sensor Network and IntelliSense,Maanshan 243031,China;Department of Electrical Engineering,Maanshan Technical College,Maanshan 243030,China)
出处
《控制工程》
CSCD
北大核心
2020年第7期1131-1135,共5页
Control Engineering of China
基金
无人机开发及数据应用安徽高校联合重点实验室(皖江工学院)基金项目(KJ2019A1275)
全国大学生创新创业训练计划项目(201914203046)。
