摘要
介绍了基于MC9S12DG128B的移动小车的控制系统设计。该移动小车使用CMOS摄像头进行路径检测,通过舵机控制转向,采用直流电机驱动。转速控制采用Bang-Bang控制结合带死区的PI控制算法,转向控制采用PD控制算法。系统响应快,控制效果好,稳定性强。
This paper introduced the design of smart car control system based on MC9S12DG128B. This smart car uses CMOS camera to carry on the way detection,changes direction using the servo, and actuates itself with DC motor. Combine Bang-Bang with dead zone PI control algorithm in the speed control,and control the direction with the PD control. The system responds quickly,control effect well,and the stability is strong.
