摘要
介绍了一种基于线阵CCD图像传感器的两轮自平衡循迹智能车系统设计与开发。系统基于第八届飞思卡尔智能车大赛准则,通过陀螺仪与加速度计测量智能车姿态进行反馈调节实现动态自平衡和速度调节,并根据CCD获取的赛道信息控制智能车转向实现自动循迹。系统在控制算法上采用了增量式数字PID控制,使系统更加稳定,改善了系统鲁棒性,最终实现了智能车动态自平衡和自动循迹功能。
Design and development of two-wheeled self-balanced tracing smart vehicle based on linear charge coupled device is introduced. The system is based on The 8th Freescale Cup Intelligent Car Racing＇ s requests, via feedback regulation to realize dynamic self-balance and speed adjustment by measuring posture of the smart vehicle with gyro and accelerometer, and control the direction of smart vehicle in terms of track information collected by CCD camera to accomplish automatic tracking. The control strategy adopts the digital PID controller, and improves the stability, sensitivity, and robustness of the system. The function of dynamic self-balance and automatic tracking are achieved at last.
出处
《信息技术》
2013年第8期179-182,185,共5页
Information Technology
关键词
自平衡
线阵CCD
循迹
PID
智能车
self-balance
linear charge coupled device
tracing
proportion integration differentiation
smart vehicle
