| 模型车智能轨迹跟踪控制系统设计 |
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| 引用本文： | 郭昌,曹婷婷. 模型车智能轨迹跟踪控制系统设计[J]. 四川工业学院学报, 2012, 0(4): 99-101,107 |
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| 作者姓名： | 郭昌 曹婷婷 |
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| 作者单位： | [1]安徽大学电气工程与自动化学院,安徽合肥230601 [2]安徽师范大学教育科学学院,安徽芜湖241000 |
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| 摘 要： | 模型车轨迹跟踪控制系统是以Freescale公司的HCS12系列单片机MC9S12DG128B作为主控制芯片,采用红外光电传感器来检测白色跑道上的黑色导引线,通过控制舵机的转角来操纵小车前进的方向的智能控制系统。它通过PID算法对模型车的转向和速度进行闭环控制,从而实现了优秀的路径搜索和良好的轨迹跟踪。实践表明,该系统运行稳定可靠。
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| 关 键 词： | 模型车 智能驾驶 16位微控制器 轨迹跟踪 |
Design of Intelligent Trajectory Tracking Control System for Model Cars |
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| GUO Chang,CAO Ting-ting. Design of Intelligent Trajectory Tracking Control System for Model Cars[J]. Journal of Sichuan University of Science and Technology, 2012, 0(4): 99-101,107 |
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| Authors: | GUO Chang CAO Ting-ting |
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| Affiliation: | 1. School of Electrical Engineering and Automation, Anhui University,Hefei 230601 China ; 2. School of Education Science ,Anhui Normal University, Wuhu 241000 China) |
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| Abstract: | The microcontroller MC9S12DG128B of Freescale HCS12 was used as the main control chip of the trajectory tracking control system for model ears. The infrared photoelectric sensor detected the black guide line on the white runway. The directibn of the car was controlled by rotating a steering gear. The closed loop control was realized for model carS through PID algorithm and speed. As a result, the exact path search and correct trajectory tracking were realized. Experiment showed that the operation of the system was stable and reliable. |
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| Keywords: | model car smart driving 16-bit MCU trajectory tracking |
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