基于工字电感的直立智能车方案

Vertical intelligent vehicle scheme basedon I-shaped inductance

从总体介绍、硬件部分设计方案、软件部分设计方案三个方面,介绍了以S9KEAZ128AMLK微控制器为核心控制单元的电磁直立两轮智能车设计方案。其通过工字电感配合滤波电容检测赛道信息,使用软件滤波算法对工字电感采集回来的数值进行滤波处理,确定赛道中心电磁线,用于识别赛道;利用编码器检测智能车的实时速度,使用PID控制算法调节驱动电机的转速,在智能车行驶的基础上通过车轮的差速实现转向,进而实现对智能车的运动速度和运动方向的闭环控制。

From three aspects of general introduction,hardware design scheme and softwar e design scheme,this paper introduces the design scheme of electromagnetic upright twowheeled intelligent vehicle with S9KEAZ128AMLK microcontroller as the core control unit.The circuit i nformation is detected by the Ishaped inductance with the filter capacitor,and the numerical value co llected by the I-shaped inductance is filtered by the software filtering algorithm to determine the el ectromagnetic line of the track center,which is used to identify the track.The encoder is used to de tect the realtime speed of the intelligent car,and the PID control algorithm is used to adjust the sp eed of the driving motor.On the basis of the intelligent car running,the steering is realized throug h the difference of the wheels,and then the closedloop control of the speed and direction of the inte lligent car is realized.