摘要
本文采用飞思卡尔MC9S12DG128B单片机作为控制核心,通过反射式红外传感器、编码器,滑动变阻器分别进行路径、行进速度、舵机转向角度的检测。MCU采用PID算法,对小车的舵机转向角度及行进速度进行实时控制,实现了整个系统的双闭环控制。该系统实时性好,在比赛中取得了预期的效果。
In this paper,Freescale MC9S12DG128B is used as a control microcontroller core, using reflecting infrared sensors, encoders, sliding rheostat to detect separately the path, the road speed, Steering angle of the steering gear. MCU uses the PID algorithm,Real-time control of the vehicle Steering angle of the steering gear and road speed. At last,implementation of the entire system of double-loop control is introduced. The systems＇design has better real time features, and this system has obtained anticipated results in the competition.
出处
《国外电子测量技术》
2008年第8期28-31,共4页
Foreign Electronic Measurement Technology
