基于麦克斯韦电磁场理论的智能车精确控制设计

Precise Control Design of Intelligent Vehicle Based on Maxwell's Electromagnetic Field Theory

该设计基于直立二轮电磁车以KEA128作为核心处理器,通过MPU6050测量的数据反馈计算得出小车当前姿态信息,并通过电感检测磁场的大小,程序计算小车出于的赛道中心的偏移量,经过滤波,最后通过PID算法产生输出量控制小车左右轮的转速,使小车保持正常直立前行姿态且稳定的速度沿着铺设铜线的赛道运行。实验通过调整程序参数,最终使小车在一定速度的范围内都能够很稳定的完成赛道全程。

The design is based on the vertical two-wheeled electromagnetic vehicle KEA128 as the core processor.The current attitude information of the car is calculated by data feedback from MPU6050 measurement.The magnetic field is detected by inductance.The program calculates the offset of the car from the track center.After filtering,the output is generated by the PID algorithm to control the speed of the car's left and right wheels so as to keep the car normal.Stand upright and move at a steady speed along a copper-wire track.By adjusting the parameters of the program,the car can finish the whole course of the track stably in a certain speed range.