嵌入式智能小车测控系统的设计与实现

Design and Implementation of Embedded Smart Car Measurement and Control System

智能小车作为智能车辆的仿真车,是研究智能车辆的基础;介绍了智能小车测控系统的结构和软硬件实现;系统以ARM9为控制器,采用μC/OS-Ⅱ操作系统,用红外传感器识别路径,采用模糊自适应PID控制策略得到控制量,并最终通过舵机和直流电机对小车的位置和速度进行控制;测试结果表明,在该控制系统下,智能小车具有良好的位置跟踪和快速切换速度性能,该系统可以作为对智能车辆进一步研究的平台。

As an emulator of the intelligent auto, the smart car is the basic object for the research of intelligent auto. In this paper, the structure of the smart car was introduced and the hardware and the software were designed. The smart car control system was designed on the ARM9 core controller and operated in μC/OS-Ⅱ operation system, with the ultrasonic sensor as the navigation. Fuzzy auto-adjusted PID was used as control strategy and the position and the speed are controlled by steer motor and DC motor respectively. The test results indicate that, the smart car had a position track and fast speed switch performance under the control system. This system can be used as the platform for further study of intelligent auto.