摘要
智能寻迹小车系统由微控制器、电源管理单元、路径识别电路、车速检测模块、舵机控制单元和直流电机驱动控制单元组成.系统以MC9S12XS128为控制核心,以激光传感器监测路面黑线,并采用C语言和CodeWarrior IDE进行编程与调试,采用PID算法对小车速度进行闭环控制.调试结果验证了该算法能很好的控制智能寻迹小车的速度,使系统在快速性和稳定性方面都达到了比较好的效果.
The control system of an intelligent tracing car consists of a microcontroller, a power management unit, a path identification circuit, a speed detection module, a servo control unit and a DC motor drive control unit. The MC9S12XS128 is considered as a core of its control system, the laser sensor is used to recognize the black lines on the road, C program and debug, and PID algorithm is adopted debugging results verify that this algorithm can control rapidity and stability of the system responses. language and CodeWarrior IDE are employed to for its closed-loop control to the car speed. The the car speed well, achieving some better results in
出处
《车辆与动力技术》
2013年第4期34-38,共5页
Vehicle & Power Technology
