红外寻迹小车寻迹控制策略的改进

Improvement of Tracing Control Strategy of Infrared Tracing Car

基于高职红外寻迹小车实训教学平台,提高小车系统的抗干扰能力,使寻迹运动更快、更平稳。在传统红外寻迹电路板的基础上,通过增加串并转换芯片74HC595与54VHC4051多路开关选择器,实现了寻迹管的分时扫描及A/D采样,将传统路径信息的硬阈值二值化方式转化为具有场地适应能力的软阈值量化方式,并基于PID算法实现了小车位置偏移的调整。经对比实验,证实新的控制策略使小车对场地的适应能力得到了提高,巡弯道时更加平稳。

Based on college teaching platform of infrared tracing car,to improve the anti-interference of the tracing car for faster and more stable tracing motion.On the basis of traditional circuit board of infrared tracing car,through addition of stringing and connection chip74HC595and multiplexer54VHC4051,the experiment realized the time scanning and A/D sampling of tracing tube,and transfered the traditional hard threshold binarization into soft threshold quantization method,also realized the adjustment of position offset of the car based on PID algorithm.The comparison experiment showed that the new control strategied improved the space adaptability and appeared more stable for curve tracing.