摘要
随着汽车电子和智能控制技术特别是现代传感技术的发展,智能车已经成为自动控制领域内的一个研究热点,而路径识别是智能车控制领域的基础,一辆智能车设计成功的关键在于智能车路径的规划是否准确、合理。根据电磁学,在导线中通入变化的电流(如按正弦规律变化的电流),则导线周围会产生变化的磁场,且磁场与电流的变化规律具有一致性。由毕奥--萨伐尔定律则可算出距离导线某点处的磁感应强度。介绍一种基于电磁学的路径识别的智能车控制系统,设计了硬件结构与方案,提出了转向机构的控制策略,该智能车能准确实现快速自主寻迹,具备抗干扰性强,稳态误差小等特点。
With developments of automotive electronics and intelligent contro technologies, especially those of modern sensor technology, intelligent vehicle has become a research hotspot in the field of automatic control. The path dentification is the foundation of the intelligent vehicle control. The key to a successful smart car design lies in whether local path planning is accurate and reasonable. According to electromagnetism theory, the wire to a changing current （e.g., changing with sine law ） can produce the changing magnetic field around itself, and the changing rule of the magnetic field is consistent with that of electric current .Tile magnetic induction intensity can be calculated with Biot - Savart law. A smart car control system is introduced based on path identification of electromagnetism. The hardware structure and software program are designed. The steering control strategy is proposed. The smart car can achieve rapid tracing with the advantages of strong anti-interference, low steady-state error, etc
出处
《传感器世界》
2014年第3期39-43,共5页
Sensor World
关键词
传感技术
自动控制
路径识别
电磁学
sensing technology
automatic control
path identification
electromagnetism
