基于模糊PID 的电磁循迹小车控制系统

为达到速度和转角协调控制的目的，提出自适应模糊 PID 控制算法。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，并通过光电编码器实时检测车速来控制电机的转速。结果表明：该算法能保证小车在路径最优、速度最快的状态下跑完全程，使小车电机速度和舵机转角达到最佳配合。

Control System of Electromagnetic Tracking Car Based on Fuzzy PID

In order to reach the goal of coordinated control of the speed and angle of car, the adaptive fuzzy PID control algorithm is proposed. The control system of an electromagnetic tracking car is based on the core control unit of MK60N512VMD100 MCU, the posture of car must be judged by the electromotive force of the center line of the racetrack in the LC resonance circuit for realizing the control of the angle of servo rotation, and the speed of car must be detected by the photoelectric encoder. The results show that the car can complete the whole with the conditions of the optimal path and the fastest, and the optimum match between the speed and the angle was obtained.