發(fā)布時(shí)間：2018-06-24 15:47

  本文選題：智能小車 + 模糊控制　； 參考：《沈陽(yáng)工業(yè)大學(xué)》2015年碩士論文

【摘要】：隨著現(xiàn)代科技不斷發(fā)展，機(jī)器人應(yīng)用越發(fā)廣泛，而集機(jī)電于一體的多功能移動(dòng)機(jī)器人的性能也被不斷完善。無(wú)論在城市安全還是在空間探測(cè)等場(chǎng)合，移動(dòng)機(jī)器人技術(shù)都倍受關(guān)注。作為移動(dòng)機(jī)器人的一種，智能小車又被稱作輪式機(jī)器人，在當(dāng)前的科技發(fā)展中，此領(lǐng)域發(fā)展速度最快。智能小車具有良好的自動(dòng)導(dǎo)引功能，因此在現(xiàn)代物流輸送系統(tǒng)中，智能小車經(jīng)常被用到。智能小車在運(yùn)行過(guò)程中應(yīng)具備良好的性能，如在路徑識(shí)別和路徑跟蹤方面，它應(yīng)做到判斷準(zhǔn)確，運(yùn)行穩(wěn)定，并且具有實(shí)時(shí)性。因此，在識(shí)別以及跟蹤路徑方面，對(duì)智能小車各性質(zhì)的研究非常必要，就其準(zhǔn)確性、穩(wěn)定性和實(shí)時(shí)性而言，對(duì)這些性能進(jìn)行提高，，具有十分重要并實(shí)際的意義。 本文提出了一種新型智能小車的結(jié)構(gòu)，根據(jù)實(shí)際車體的架構(gòu)，對(duì)智能小車進(jìn)行研究，在此基礎(chǔ)上建立數(shù)學(xué)模型。此結(jié)構(gòu)可以使智能小車對(duì)未知的道路情況有更快速和精準(zhǔn)的反應(yīng)。新型結(jié)構(gòu)利用舵機(jī)和差速電機(jī)相互配合，同時(shí)控制研究對(duì)象的轉(zhuǎn)彎。以Cortex-A8核控制芯片為主控制器，Arduino單片機(jī)控制智能小車的底層操作，與主控制器進(jìn)行數(shù)據(jù)通信來(lái)對(duì)小車進(jìn)行控制。紅外光電傳感器負(fù)責(zé)識(shí)別路徑信息，然后將采集到的數(shù)據(jù)傳送給主控制器，主控制器通過(guò)控制策略給出精確的數(shù)據(jù)信息，最后利用舵機(jī)與差速電機(jī)相結(jié)合來(lái)控制小車的轉(zhuǎn)角以及行駛速度�？刂撇呗缘倪x擇也會(huì)在一定程度上影響到智能小車在路徑識(shí)別與跟蹤方面的性質(zhì)，如其準(zhǔn)確性、穩(wěn)定性和實(shí)時(shí)性。因?yàn)楸蛔R(shí)別的路徑信息較為復(fù)雜，且具有不確定性，所以本課題在路徑信息分析上選擇了模糊控制算法。人對(duì)被操作對(duì)象做出控制動(dòng)作時(shí)，會(huì)積累一定的經(jīng)驗(yàn)，模糊控制器則是通過(guò)對(duì)此經(jīng)驗(yàn)的分析并依靠進(jìn)行工作，因此不需要建立關(guān)于路徑的數(shù)學(xué)模型。通過(guò)對(duì)智能小車的運(yùn)行狀態(tài)進(jìn)行觀察，發(fā)現(xiàn)智能小車可以在給定的路線上進(jìn)行精準(zhǔn)運(yùn)行，因此智能小車在路徑識(shí)別上表現(xiàn)良好，尤其是在的精準(zhǔn)度、穩(wěn)定性、以及速度控制上尤為突出，通過(guò)本文的研究，智能小車的性能得到大幅度的提高。
[Abstract]:With the development of modern science and technology, the application of robot is becoming more and more extensive, and the performance of multifunctional mobile robot with electromechanical integration has been continuously improved. Mobile robot technology has attracted much attention in both urban safety and space exploration. As a kind of mobile robot, intelligent car is also called wheeled robot. Intelligent vehicle has good automatic guidance function, so it is often used in modern logistics transportation system. The intelligent car should have good performance in the running process, such as path identification and path tracking, it should be accurate, stable, and real-time. Therefore, it is necessary to study the properties of intelligent vehicle in identifying and tracking the path. In terms of its accuracy, stability and real-time performance, it is of great importance and practical significance to improve these properties. In this paper, the structure of a new type of intelligent car is proposed. According to the structure of the actual car body, the intelligent car is studied, and the mathematical model is established on the basis of it. This structure allows smart cars to respond more quickly and accurately to unknown road conditions. The new structure uses the steering gear and differential motor to coordinate each other and controls the turning of the research object at the same time. Taking Cortex-A8 core control chip as the main controller, Arduino single chip computer controls the bottom operation of the intelligent car, and communicates with the main controller to control the car. The infrared photoelectric sensor is responsible for identifying the path information, and then transmitting the collected data to the master controller, which gives the accurate data information through the control strategy. Finally, the steering gear and differential motor are used to control the angle and speed of the car. The choice of control strategy will also affect the characteristics of intelligent vehicle in path identification and tracking to some extent, such as accuracy, stability and real-time. Because the identified path information is complex and uncertain, the fuzzy control algorithm is chosen in the path information analysis. When a person makes a control action on an operating object, he accumulates certain experience, while the fuzzy controller analyzes the experience and relies on the work, so it is not necessary to establish a mathematical model about the path. By observing the running state of the intelligent car, it is found that the intelligent car can run precisely on a given route, so the intelligent car performs well in path identification, especially in the accuracy and stability of the vehicle. And speed control is particularly prominent, through the research of this paper, the performance of smart car has been greatly improved.
【學(xué)位授予單位】：沈陽(yáng)工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TP273.4;TP242

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本文編號(hào)：2062043