飞思卡尔控制器的智能寻迹车的设计

飞思卡尔控制器的智能寻迹车的设计

基于飞思卡尔控制器的智能寻迹车设计（光电）

摘要

本设计设计智能寻迹车的控制系统，包括传感器的选择、电路的设计与调试、机械结构的调整安装、软件的设计与调试，实现智能车在特定赛道上自动行走，系统地阐述了整个智能车的设计过程。在系统控制中采用模糊PID控制，克服了简单模糊控制和传统PID 控制的一些缺点，通过模糊规则进行推理和决策，实现PID控制器参数的实时优化。

关键词：智能车；飞思卡尔；模糊控制；PID控制

飞思卡尔控制器的智能寻迹车的设计

Design of a tracing Smart Vehicle based on Freescale Controller (Photoelectricity)

ABSTRACT

Design the control system of tracing smart vehicle, including the choice of sensors, circuit design and debugging, adjust and install the mechanical structure, software design and debugging. Final implement the smart vehicle running in a particular racetrack automatically. The design systematically set out the entire smart vehicle design process. The system uses a kind of self-turning Fuzzy-PID controller. It overcomes some defects of simply fuzzy control and traditional PID control. The real-time optimization of the control parameter of PID controller is carried out by fuzzy reasoning and strategy.

Key words: Smart vehicle; Freescale; Fuzzy control; PID control

飞思卡尔控制器的智能寻迹车的设计

目录

1绪论.................................................................................................................................... 1

1.1 研究意义 ................................................................................................................ 1 1.2 设计背景 ................................................................................................................ 2 1.3 设计介绍 ................................................................................................................ 2 1.4 文献综述 ................................................................................................................ 2 2系统设计分析 .................................................................................................................... 4

2.1 设计要求 ................................................................................................................ 4 2.2 总体设计 ................................................................................................................ 4 2.3 方案选择与论证 ..................................................................................................... 5

2.3.1 赛道识别模块 .............................................................................................. 5 2.3.2 速度检测方案 .............................................................................................. 6 2.3.3 电机驱动调速模块的选择 ........................................................................... 9

3 机械结构调整 ................................................................................................................. 11

3.1 底盘高度的调整 ................................................................................................... 11 3.2 前轮调整 .............................................................................................................. 11 3.3 齿轮传动机构的调整 ........................................................................................... 13 3.4 后轮差速机构调整 ............................................................................................... 14 3.5 舵机延长杆 .......................................................................................................... 14 3.6 路径传感器布局 ................................................................................................... 14 4硬件电路设计及实现 ....................................................................................................... 16

4.1 电源模块 .............................................................................................................. 16

4.1.1 5V电源电路 ............................................................................................ 16 4.2 光电传感器模块 ................................................................................................... 18 4.3 测速传感器模块 ................................................................................................... 19 4.4 电机驱动模块 ....................................................................................................... 21 4.5 控制模块 .............................................................................................................. 23 5软件设计 .......................................................................................................................... 26

飞思卡尔控制器的智能寻迹车的设计

5.1 系统初始化........................................................................................................... 26 5.2 定时采样 .............................................................................................................. 27 5.3 控制运算 .............................................................................................................. 28

5.3.1 模糊自适应PID控制 ................................................................................ 29 5.3.2增量式PID控制 ......................................................................................... 38

6 开发制作与调试 ................................................. …… 此处隐藏：10272字，全部文档内容请下载后查看。喜欢就下载吧 ……