摘要
该控制系统采用飞思卡尔MC9SXS128单片机作为控制核心,利用128觹1线性CCD进行道路信息采集;采用卡尔曼滤波算法进行陀螺仪和加速度计信息融合,计算出车模的角度和角速度,调整车模保持平衡。整个系统由道路信息采集系统、直立控制系统和速度控制系统三个闭环组成,实现车模直立、加速、减速、过路障和过桥等各种复杂动作。上位机监测系统接受无线模块上传的数据信息,经过处理、分析,使车模能够快速、准确、稳定地跟踪引导线。
The control system adopts the single chip microcomputer freescale MC9SXS128 as its control core,it collect road information with a 128＊1 linear CCD;Kalman filtering algorithm is adopted to integrate the information about gyroscope and accelerometer calculate the angle and angular velocity of the model,adjust and balance the model.The whole system composed three closed loops,including road information acquisition system,vertical control system and speed control system,which helps to models to erect,speed up,slow down,pass roadblock and cross bridges and carry out other complex motions.PC monitoring system would receive the data and information uploaded by wireless modules,after processing and analysis,it would make models track guide lines rapidly,accurately and stablely.
出处
《时代农机》
2015年第7期35-35,37,共2页
Times Agricultural Machinery
