智能自主寻迹小车测控系统的研究与设计

The research and design of intelligent autonomous tracing car measurement and control system

智能小车的测控系统是小车设计中的关键技术之一,灵敏完备的测控系统可以有效提高智能小车运行的稳定性,介绍了智能自主寻迹小车测控系统的整体架构和软硬件设计过程。以飞思卡尔M9S12XS128微处理器作为小车的控制核心,采用红外光电传感器采集路径信息,微处理器根据路径信息和小车当前状态采用脉冲宽度调制(PWM)方式对驱动电机和舵机进行控制。优良的控制算法对智能小车寻迹的准确性和稳定性起着关键的作用,文中采用模糊比例-积分-微分(PID)控制策略对直流电机的转速进行控制,利用双P控制算法控制智能小车舵机的转向;测试结果表明,智能小车运行快速平稳,能够自主准确寻迹。

Measurement and control system for intelligent car is one of the key technologies in the design of the car,sensitive and comprehensive measurement and control system can ef-fectively improve the operational stability of intelligent car. It introduces the whole architecture of intelligent autonomous tracing car measurement and control system and the hardware and software design process. Take Freescale M9S12XS128 microprocessor as the control core of the car,and infrared optical sensor to abtain path information. According to the path information and the current state of the car,the microprocessor control the drive motor and actuator by us-ing pulse width modulation（PWM）method. Excellent control algorithm plays a key role for in-telligent car tracing accuracy and stability. This paper uses fuzzy proportion-integration-differen-tiation（PID）control strategy to control direct current（DC）motor speed,using double P con-trol algorithm to control the steering of the intelligent car steering gear. The test results show that the intelligent car runs fast and smoothly,and can trace independently and accurately.