电磁引导智能汽车设计与关键技术研究

Designing Intelligent Vehicle Based on Electromagnetic Guidance

基于电磁引导的局部运输系统在工业自动化领域已经广泛应用,然而将这种智能引导技术应用到汽车参与的真实道路交通领域还缺乏充分的安全性保证,尚需要深入的系统性研究来提高在现实交通路况下的适应能力。基于经典的电磁场原理、结合经典控制理论与方法,研究了基于电磁导引的智能汽车在智能交通领域应用的关键问题,并在模型汽车上实现了一种可行的自动导引控制系统和节体转向机制。控制软件应用离散型半模糊控制的PID控制算法以及分段等级棒棒PID控制算法实现了整个系统的最优控制,样机在实验室模拟道路上进行了验证,行驶表现与现实路况较接近,整个控制过程平稳顺畅。

The local transport system based on electromagnetic guidance has not been aplied to an intelligent vehicle.Therefore,we work on its working principles,modeling and speed control and the structural design of its steering system.We verify the steering mechanism of the intelligent vehicle model that travels on a simulated road.Its operation results show that its steering mechanism can effectively enhance the swerving capability and operational safety and stability.The simulation results,given in Fig.5,and their analysis show preliminarily that the use of two horizontal sensors and one vertical sensor can effectively detect the vehicle model＇s direction of deviation from its road.The discrete semi-fuzzy PID control algorithm and the sectional and graded Bang Bang PID control algorithm we designed and verified on the vehicle model are suitable for controlling an intelligent vehicle on various road conditions such as bending road,cross road and S-shaped bending road.