摘要
提出一种基于瑞萨H8/3048F-one单片机的智能模型车的设计与实现方案。利用红外传感器采集路面信息,以H8/3048F-one为核心控制单元,通过对舵机的开环比例控制和电机的闭环PID控制实现模型车的自主寻迹行驶。实践证明,该方案合理有效,可使模型车顺利通过指定赛道,具有寻迹路线优、速度调节快、抗干扰性强、稳态误差小的特点以及较好的动力性能和转向性能。
This paper proposes a design and implementation of intelligent model car based on Renesas H8/3048-one Single Chip Microcomputer（SCM）.The model car uses infrared sensors to obtain lane image information,and employs the H8/3048-one as its control micro-processor.Through the open-loop proportional control on servo to change the direction and the closed-loop Pelvic Inflammatory Disease（PID） control on motors to implement the control the speed,it can realize to track the lane automatically.Practice proves that the scheme is reasonable and effective to make the model car pass the crank,lane change and other special lane smoothly,it has the characteristics of optimal tracing line,fast adjustable speed,strong anti-interference performance,little steady-state error,and it also has good dynamic and steering performance.
出处
《计算机工程》
CAS
CSCD
北大核心
2011年第10期243-245,248,共4页
Computer Engineering
基金
长安大学校青年基金资助项目(06Z15)
关键词
单片机
红外传感器
开环比例控制
闭环PID控制
Single Chip Microcomputer（SCM）
infrared sensor
open-loop proportional control
closed-loop Pelvic Inflammatory Disease（PID） control
