基于PI算法的智能刹车系统设计

Design of Intelligent Vehicle Braking System Based on PI Algorithm

针对目前拉线式刹车存在的制动线路太长不容易精确控制和响应速度慢的问题,提出了1种新的智能车制动控制系统改造方案,通过在智能车的制动踏板上方合适位置开孔,减少拉线行程,进而提高控制精度和响应速度。同时设计了基于嵌入式单片机的刹车系统硬件和软件结构,并且根据PI参数的调节原理,设计了1种积分分离PI算法。通过大量实验对PI参数进行调节,得出电机在能够快速响应而又不出现抖动现象时的参数,采集出电机执行过程中的位置和时间信息,利用Matlab对采集数据进行结果分析。实验结果表明设计的控制系统能够满足控制精度和响应速度要求。

In order to solve the problem of existing brake with long brake line leading to low precision and low speed of response in the process of control, a new brake control system scheme was proposed for intelligent vehicle. To reduce the pull stroke and improve the efficiency of control, a suitable hole above the brake pedal in the smart car was made. At the same time, hardware and software structure of the braking system based on embedded MCU was designed. According to the principle of PI parameter adjustment, an integral separation PI algorithm was designed. The optimal value of PI with which motor responded quickly without jitter phenomenon was obtained through a large number of experiments. The position and time information analyzed by using Matlab was collected during the execution of the motor. The experimental results show that the designed control system can meet the requirement of control ac-curacy and response speed.