寻迹智能小车系统设计及其控制算法的研究.pdf

寻迹智能小车系统设计及其控制算法的研究
工程技术学院自动化(计算机控制工程) 梁捷
学号:2002112050
【摘要】本文研究的智能小车系统以 Freescale 的 16 位单片机 MC9S12DG128 作为核
心控制器,采用红外光电传感器识别黑色车道线,以 PWM(脉宽调制)信号控制直流电机和
转向舵机。同时,用 Plastid 软件和 Matlab 对几种匀速控制方案进行仿真,用于指导实验。
基于可靠的硬件设计,应用有提前纠偏特色的分级角度匀速控制算法,实现了智能小车的匀
速寻迹行驶。提前纠偏的方法较好地改善了分级角度匀速控制的直线蛇形前进问题。
【关键词】智能小车;MC9S12DG128;提前纠偏
【教师点评】智能小车是智能车辆的缩影,其导航和自动控制技术有着广泛的应用前
景。该同学运用 MC9S12DG128 单片机将传感器检测、舵机转向、电机驱动各模块进行系统集
成和调试,研究了基于光电传感器的小车自动轨迹控制算法,并通过数字仿真分别研究了控
制算法和小车特性分析。最终实现了基于光电传感器的小车自主轨迹跟踪运行。实验结果表
示小车较好的匀速曲线轨迹跟踪效果。
点评教师:郭小勤

Study on the Design and Control Arithmetic of
Intelligent Vehicle System for Line Tracking
【Abstract】 This text studies on the intelligent Vehicle system, which is mainly controlled
by Freescale’s 16-bit Single Chip called MC9S12DG128 and recognizes the black line by
infrared photoelectrical sensor. The DC electromotor and rudder motor of such system are
controlled by PWM(Pulse-Width Modulation) signal. Meanwhile, we used Plastid software and
Matlab to imitate several invariable-speed control methods for directing the experiment. Based
on the reliable hardware design, the intelligent vehicle could track the line at an invariable-speed,
with the use of the hierarchical-angle invariable-speed control methods which can rectify
deviation early. Such method has eased the problem of straight snaking movement when the
control of the hi