摘要
以预瞄与跟随理论为基础,设计了以FPGA为控制核心的导盲小车控制系统,可实现正常盲道行进、障碍物避障行进和红绿灯识别行进控制,为盲人出行提供安全保障.系统首先建立了基于平面几何约束的角度与速度综合控制模型,在此基础上提出了一种适于FPGA实现的基于模糊规则的自校正舵机控制算法,进而实现对导盲小车的方向与速度综合控制.本设计首先在Matlab环境下进行建模与调试,调试成功后运用Quartus II对控制器进行设计与仿真.实验证明该系统具有很强的实时性与可靠性,可极大程度的保障盲人出行的安全.
This paper designs with FPGA as the control core of the blind-guide-handcart control system on the basis of preview follower theory.The system can realize the control of traveling on the normal blind road,avoiding obstacle and distinguishing of traffic lights,so it provides security for the blind traveling.Firstly,the system builds an integrated control model of angle and velocity based on the plane geometry constraint.Secondly,this paper proposes a servo self-tuning control algorithm that is suit to FPGA based on fuzzy rules,and achieves the direction and speed comprehensive control of blind-guide-handcart.Then the design fulfills modeling and debugging under the Matlab environment,and applies Quartus II to design and simulate for system controller after the successful commissioning.Experiments show that the system has strong real-time and reliability,and has a great extent safety for protecting the blind traveling.
出处
《哈尔滨理工大学学报》
CAS
北大核心
2016年第6期55-60,共6页
Journal of Harbin University of Science and Technology
基金
黑龙江省教育厅科学技术研究项目(12531107)
关键词
导盲系统
FPGA
方向与速度综合控制模型
模糊规则的自校正舵机控制
blind guiding system
FPGA
model of direction and speed integrated control
servo self-tuning control algorithms based on fuzzy rules
