磁导航智能车系统的设计与实现

Design and Realization of the Smart Magnetic Navigation Car System

针对全国大学生智能汽车竞赛,研制了磁导航智能车系统。在硬件方面,以MC9S12XS128单片机作为核心控制单元,控制单元由核心控制、路径信息采集、电机驱动、监控调试和电源共五个模块构成,利用仪表用差动放大电路对信号进行放大处理,采用加速度传感器对车辆姿态进行检测;在软件方面,对传感器输出量进行归一化处理和曲线拟合,实现对车辆位置的快速准确判断,同时针对方向闭环控制中给定变化频繁的特点,采用微分先行的PID算法。实际测试结果表明了该方案的可行性。

Aiming at the competition of smart cars for students in universities and colleges of the whole country,the magnetic navigation system has been developed.With the single chip computer MC9S12XS128 as the kernel control unit,the hardware is composed of five sections,including core control,path signal collection,motor drive,monitoring and debug,as well as the power supply.By using the differential amplifier for instruments to amplify the signals,by using acceleration sensor to detect the attitude of the car.The software implements normalization of the sensor outputs and curve fitting,for rapid and precisely judging the position of the car.In addition,in accordance with the feature of frequent variation of the set point in direction closed-loop control,the differential forerunning PID algorithm is adopted.The practical test result indicates that this strategy is feasible.