基于模糊控制的模型车轨迹跟踪系统设计

Design of a Model Car Trajectory Tracking System Based on Fuzzy Control

针对模型车的响应速度和控制精度的要求,设计实现了以摄像头视觉为导向,以嵌入式控制技术为基础的三轮式引导小车轨迹跟踪系统。通过建立小车动态运动模型,推算出了小车运行过程中距离偏差和角度偏差与驱动轮速度之间的关系;设计了模糊控制方法对偏差进行调节,并利用MATLAB对控制系统进行仿真实现,系统能够快速稳定地纠正偏差。最后在现场试运行中轨迹跟踪性能良好,达到了精确控制的性能要求。

Considering the requirement on the response speed and control precision of the model car,this paper designs and implements a three-wheel guide trolley trajectory tracking system oriented by camera vision on the basis of embedded control technology.By means of a dynamic motion model of the trolley established specifically for our project,we deduced the relationship between distance and angle deviations and driving wheel speed during trolley operation.A fuzzy control method was designed to adjust deviations,and MATLAB simulation of the control system showed that the system can correct deviations quickly and accurately.Finally,the model car shows a good trajectory track performance in the field trial operation and meets its performance requirement for precise control.