基于模糊PID的电磁循迹小车控制系统设计

电磁循迹小车系统以MK60N512VMD100微控制器为核心控制单元。通过LC谐振电路检测赛道中心线感应电动势来判断车身姿态,实现舵机转动角度的控制,并且通过光电编码器实时检测车速来控制电机的转速。为达到速度和转角协调控制的目的,因此,提出自适应模糊PID控制算法保证小车在路径最优、速度最快的状态下跑完全程。

Control System Design of Electromagnetic tracking car based on FuzzyPID

The control system of an electromagnetic tracking car based on the core control unit of MK60N512VMD100 MCU. In order to control the angle of servo rotation, the posture of car must be judged by the electromotive force of the centerline of the racetrack in the LC resonance circuit,and control motor speed, the speed of car must be detected by the photoelectric encoder. For solving the problems of coordinated control of the speed and Angle of car, adaptive Fuzzy PID control algorithm was used to ensure that the car can complete the whole with the conditions of the optimal path and the fastest.