摘要
以9S12XS128为控制核心,采用"弦切法"对路径状况进行分析优化处理,通过建立模糊规则库调整智能车电机转速与舵机转角的匹配,利用PID算法完成对舵机的控制。设计并制作出能以较快速度自主识别各种赛道轨迹的智能车。实验及大赛结果表明本设计可以优化路径选择,提高舵机响应速度,同时使小车在弯道处速度平滑稳定。
Take 9S12XS128 as the core of the control,the" String-cut method" was taken to analyze the roads;the PID algorithms is adopted to control the angle of steering engine,and the fuzzy controlling law to control the intelligent car s speed.The intelligent car can track the kinds of orbits and comply with a series of rules of competition with the fastest speed,self-identification and so on.The method of the design of the smart car can improve the choose of roads and answer speed of steering engine,which has been...
出处
《苏州大学学报（工科版）》
CAS
2010年第2期19-23,共5页
Journal of Soochow University Engineering Science Edition (Bimonthly)
基金
安徽省教育厅自然科学研究资助项目(编号KJ2007B002)
合肥学院自然科学研究资助项目(编号060651)
关键词
智能车设计
PID控制
弦切法
design of intelligent car
PID control
string-cut method
