基于MC9S12XS128的电磁循迹智能车控制系统

Research on Tracking System for Smart Cars Based on MC9S12XS128

电磁组智能车属于"飞思卡尔"大赛最新的比赛项目组。对于电磁组智能车而言,合理的循迹方案设计是决定速度和稳定性能的前提。采用二值离散化方法划分7个电磁传感器检测区间,配合相应长度和高度的前瞻,控制舵机转向及转角大小,提高传感器的灵敏度和前瞻性。弯道采用单闭环模糊PID算法,从而实现对电机转速的智能控制。利用Matlab中Simulink建模得出较理想的PID控制参数,再通过实际测量对P、I、D 3个参数进行微调。基于以上条件设计的智能车速度可以轻易达到2.9 m/s,满足比赛要求。

Electromagnetic group smart car is the latest group event of the Freescale competition.For e-lectromagnetic smart cars,rational design of tracking program is the premise that determines the speed and stability.In this paper,seven electromagnetic sensor range is divided by the method of discrete binary,which works for controlling the direction and angle of servo and improving the sensitivity as well as the forward-looking with corresponding length and height of the sensor.Single closed loop fuzzy PID algorithm is used for enabling the intelligent control of motor speed in bend.Batter parameters are obtained through modeling on Matlab Simulink and then are fine turned through actual measurements.The speed of smart cars can easily reach 2.9 m/s to meet the competition requirements based on the above design.