基于自主循迹平衡车的前瞻自适应系统设计

Design of Preview Adaptive System Based on Autonomous Tracking Balanced Car

一般地,自主循迹平衡车摄像头固定安装,在行驶过程中车身倾角变化会导致摄像头前瞻改变。为解决这一问题,将车身重心倾角、倾角角速度、行驶速度等状态参数引入到前瞻控制方案中,设计出一套性能优良的前瞻自适应系统。提出了前瞻随车模状态参数自适应调整的控制方案,对方案在车模实验平台上进行实际应用评价,并用上位机显示实验结果。实验结果表明,所设计的前瞻自适应系统能达到前瞻快速跟随倾角的目标,并且能得到满足轨迹采集需求的动态前瞻,可以将本系统用于自主循迹平衡车。

Generally, the camera of the autonomous tracking balanced car is installed tlxeOly. In me processof moving, variation of the angle of the car would cause changes in the camera preview. In order to solve thisproblem, the car center of gravity angle, angular velocity and speed state parameter are introduced in the carpreview control scheme, and a set of car preview adaptive system with excellent performance is designed.The control scheme with car model state parameters adjusted adaptively is proposed in this paper, and thisscheme is evaluated in practical applications on the car model experiment platform. Finally, the experimentalresult is displayed with PC. The experimental result shows that the designed car preview adaptive systemachieves the purpose of the quick forward tracking of the car center of gravity angle. And the systemachieves the dynamic preview that meets the demand of trajectory capture. This system can be used for theautonomous tracking balanced car.