摘要
将一致性理论应用到多智能小车的速度一致性控制中。首先分析了多智能小车速度一致性的采样、量化算法;然后基于此理论设计了智能小车控制系统,并利用模块化理念设计了Zig Bee无线通信、电机驱动、SD卡速度存储及速度显示等硬件模块,实现了多智能车速度一致性控制的采样、量化程序,以及多车间信息交互的通信协议等。实验结果表明:基于一致性理论的多智能小车实现了速度的一致性控制。
This paper applied consistency theory to speed consensus algorithm of multi-agent car system. The multi-agent car system based on former consensus algorithm was studied. Firstly,multi-intelligent vehicle speed consistency of sampling and quantization algorithm was analyzed.Intelligence car control system was designed based on the above theory. The Zig Bee wireless communications,motor drivers,sd card speed memory,speed display modules and other hardware modules,sampling and quantitative procedures of multi-agent car＇s speed consistency control,mutil-workshop information interactive communication protocol and so on were designed based on module designed concept. The experimental results show that multi-agent car based on consistency realizes the speed consitency control.
出处
《重庆理工大学学报（自然科学）》
CAS
2015年第4期107-112,共6页
Journal of Chongqing University of Technology：Natural Science
基金
安徽省高等学校省级自然科学研究项目"基于DSP的多电机同步网络控制研究"(KJ2011A029)
关键词
多智能车
速度一致性控制
采样
量化
通信协议
multi-agent car
consitency of speed control
sampled-data
quantized-data
communication protocol
