摘要
该文设计一种基于KEA单片机的智能循迹小车。介绍智能小车系统结构设计:由安装在智能小车前端的电磁传感器获取路径信息,并将这些信息送入KEA单片机控制系统进行分析处理,通过PID控制算法对小车的双电机进行PWM控制,使得小车沿着电磁线前进,达到循迹的目的。智能小车的硬件设计包括电源稳压模块、传感器模块、电机模块、陀螺仪模块等。软件设计包括PID控制模块、电感采集模块、速度采集模块等。实际调试过程中,智能小车能自适应直线、弯道、坡道、圆环等各种复杂路况。试验结果表明,整个系统结构简单,鲁棒性高,实现了一个同时具备速度控制、数据采集、自动循迹和路径规划识别功能的智能车。
An intelligent tracking cart based on KEA microcontroller is designed.The structure design of the intelligent trolley system is introduced.The path information is obtained by the electromagnetic sensors installed on the front of the smart trolley.The obtained information is sent to the KEA microcontroller control system for analysis and processing.The PID control algorithm is used to perform PWM control for the two motors of the trolley,so that the trolley advances along the electromagnetic line to achieve the purpose of tracking.The hardware design of the smart trolley includes a power supply voltage stabilization module,a sensor module,a motor module,a gyroscope module,and so on.The software design includes PID control module,inductance acquisition module,speed acquisition module,etc.In the actual debugging process,the smart trolley can adapt to various complicated road conditions such as straight line,curve,ramp and circle roads.The testing results show that the entire system has a simple structure and high robustness,and has realized the functions of speed control,data acquisition,automatic tracking,path planning and path identification.
作者
邓开连
周芳管
崔灿
曾凡楷
丁贺
靳思宇
DENG Kailian;ZHOU Fangguan;CUI Can;ZENG Fankai;DING He;JIN Siyu(College of Information Science and Technology,Donghua University,Shanghai 201620,China)
出处
《现代电子技术》
北大核心
2020年第16期13-17,共5页
Modern Electronics Technique
基金
中央高校基本科研业务费专项资金资助(2232018G-09)
上海市高等教育学会课题(GJEL1814)
国家自然科学基金委员会青年科学基金(61805035)
东华大学2018年度高等教育规划专项课题(104-99-0243018)
2019年国家级创新创业计划项目(201910255064)
2018年上海市级大学生创新创业计划项目(104-03-0178178)
东华大学教改项目(104-20-000101/002)。
关键词
智能循迹
KEA
路径信息获取
信息分析
PWM控制
路径规划
intelligent tracking
KEA
path information acquisition
information analysis
PWM control
route planning
