基于CCD和光电编码器的差速整定方法研究

Differential speed tuning method based on CCD sensor and photoelectric encoder

基于CCD和模拟编码器的两路差速整定方法研究,以MC9S12XS128MAA单片机为系统核心,用光电编码器采集电机速度信号进行两路电机速度检测,利用CCD采集路径信息进行曲率计算,以此来进行差速计算,从而通过控制两路电机速度来提高智能车转弯性能。差速整定对智能车灵活过弯,路径寻优起到了关键的作用。

This paper introduces differential speed tuning method based on CCD sensor and photoelectric encoder,MC9S12XS128MAA microcontroller as the core of the system,acquisition of motor speed signal with optical encoder for motor speed detection,CCD acquisition path information for curvature calculation,in order to perform differential calculations,smart car turning performance by controlling two motor speed to increase.The differential speed tuning has played a key role in cornering flexible and path optimization of intelligent vehicle.