智能车辆控制系统PID算法的设计

A design of control system of an intelligent car based on PID arithmetic

在行驶过程中,智能车辆需要不停的检测前方道路信息以及自身的行驶信息。在检测过程中有许多复杂信息需要采集,并有多种干扰因素需要抗拒。将检测到的道路信息与自身行驶信息相结合,来确定下一步动作。在工程实际中,应用最为广泛的调节控制规律为比例、积分、微分控制,简称P I D控制,它以其结构简单、稳定性好、工作可靠、调整方便而成为工业控制的主流技术之一。本文采用超声波测位和无线通信实现两辆车安全地交替超车,具有很高的稳定性和快速性。在硬件上采用基于P W M技术的H型桥式驱动电路,解决了电机驱动的效率问题,这种设计能实现对电动车的运动状态进行实时监控,控制灵活、精度高,以实现小车的智能化设计,来满足对系统的各项要求。

The intelligent car must detect the traveling condition and the road messages ahead continuously, and reject a lot of disturbing factors during the driving process. The action of next step is determined by the combination of road messages and traveling conditions detected. The proportional, integral and differential control, called PID is widely used in practical engineering. PID has become the predominant control technique due to its simple structure, excellent stability, high reliability and convenience for adjustment. The realization that one car overtakes another interdigitally is accomplished by the ultrasonic location and radio communications. The efficiency of driving motor is improved with PWM technique and bridge-H driving circuit. The motion situation of the car designed is monitored with high precision in time, to realize the intelligence of the car and to satisfy various requirements.