摘要
基于AVR单片机设计了红外光源自导航的无人水面航行器。该系统以Atmega16单片机为核心控制器,采用单稳态电路检测信号,利用增量式PID算法进行航向矫正,通过内存堆栈保存航向数据实现航向锁定的闭环控制。该自动导航系统具有航向调节时间短,异常处理有效等优点,在航速较高时仍能保证航向准确。
An infrared navigation unmanned surface vehicle was designed based on AVR MCU. Atmega16 MCU was chosen as system＇s core controller. Infrared signals were detected by monostable circuit and course correction was implemented using the incremental PID algorithm. Memory stack was build up to keep course data and to realize close- loop control of heading locking in response to cases of signal loss. The automatic navigation system has the ability of quick course adjustment and effective abnormal condition handing and accurate course can be ensured under high speed condition.
出处
《工业仪表与自动化装置》
2015年第4期47-50,共4页
Industrial Instrumentation & Automation
