摘要
为了使自动识别路径的智能车能够稳定、可靠地在不同跑道上行驶,文章提出了一种数字PID控制算法。详述了数字PID控制技术在提高控制精度、扩展相位裕量中的运用过程,并在以HCS12的16位单片机为硬件系统的智能小车上进行了控制算法测试。试验结果证明,智能车能够稳定、可靠地在不同跑道上行驶。
In order to get the aptitude vehicle running stably in different situations,the article presents a control method for servo motor based on improving digital PID.The digital PID control technology used to improve control accuracy and phase margin expansion is described.The testing results based on the 16-bit micro-controller HC12 as hardware system,prove that the vehicle is reliable enough to steer in the various raceways.
出处
《实验科学与技术》
2010年第4期187-189,共3页
Experiment Science and Technology
关键词
PID控制
智能车
自动识径
PID control
aptitude vehicle
path recognition
