摘要
设计了一种基于磁导航的两轮智能车系统.该系统以飞思卡尔单片机为核心,利用加速度传感器和陀螺仪分别测量车模的加速度与角速度,通过编码器检测车速及车模运动方向,采用电感线圈检测路径信息.单片机采用互补滤波算法获得车模倾角信息,通过PID算法控制直流电机驱动模块来控制车模的平衡及其行驶速度和方向,从而实现智能车稳定、准确、快速地行驶.
A two-wheeled smart car system based on magnetic navigation is designed. The core of system is Freescale microcontroller. The acceleration sensor and gyroscope are used to measure the car＇s acceleration and angular velocity respectively. The speed and direction of the car are detected by the encoder. At the same time, using inductance coil to detect the path information. The microcomputer uses complementary filter algorithm to obtain the car＇s inclination information. And the car＇s balance, speed and direction are controlled by a DC motor driving module through the PID algorithm, so that the smart car can be smooth, accurate and fast driving
出处
《湖南师范大学自然科学学报》
CAS
北大核心
2013年第1期17-21,共5页
Journal of Natural Science of Hunan Normal University
基金
四川省教育厅资助项目(12ZB156)
关键词
磁导航
两轮
智能车
互补滤波
PID算法
magnetic navigation
two-wheeled
smart car
complementary filter
PID algorithm
