【摘要】：伴隨汽車電子技術(shù)的快速發(fā)展,大眾對于汽車除了駕駛之外的安全,環(huán)保以及智能化和信息技術(shù)的要求越來越高。應(yīng)運(yùn)而生的智能汽車在智能交通系統(tǒng)(ITS)越來越扮演關(guān)鍵角色,智能汽車自動駕駛的關(guān)鍵技術(shù)在交通方面,具有廣闊的應(yīng)用前景,并得到了廣泛的關(guān)注。智能車系統(tǒng)的研究與自動控制,人工智能,信息融合,傳感器,圖像處理和計(jì)算機(jī)科學(xué)等多門學(xué)科技術(shù)相關(guān),并且智能車輛控制系統(tǒng)的研究是最活躍的研究領(lǐng)域之一。 智能車系統(tǒng)設(shè)計(jì),基于智能車基本模型,設(shè)計(jì)智能汽車車身的機(jī)械結(jié)構(gòu)和硬件電路計(jì),智能車自動循跡決策系統(tǒng)和控制算法進(jìn)行研究。本文設(shè)計(jì)尋磁直立智能車系統(tǒng)MC9S12XS128MAL單片機(jī)為核心的控制單元,結(jié)合ENC-03陀螺儀和數(shù)字加速度傳感器MMA7660測量智能車與地面的傾斜,通過IIC串行采集,通過單片機(jī)的A／D轉(zhuǎn)換器采集加速度傳感器MMA7660的數(shù)據(jù)。采用卡爾曼濾波對ENC-03和MMA7660數(shù)據(jù)融合,以得到更精確的傾斜角度。PWM其輸出來控制電動機(jī)的速度和方向,通過一個(gè)數(shù)字PID控制器,根據(jù)角度傳感器獲取的角度信息作為其輸入。再利用霍爾編碼器測量車輪速度,為了克服陀螺儀和加速度計(jì)的漂移誤差,實(shí)現(xiàn)前部和后部的智能車的行走方向均可。差速轉(zhuǎn)向控制智能車的轉(zhuǎn)向。對于電磁軌道采用磁傳感器,用于搜索一個(gè)RC諧振測量通過一個(gè)固定的頻率和位置的固定大小的交流電流的導(dǎo)體來實(shí)現(xiàn)。在本系統(tǒng)中采用兩個(gè)由A／D轉(zhuǎn)換器的磁傳感器來收集數(shù)據(jù),計(jì)算兩個(gè)尋求磁傳感器數(shù)據(jù),然后將兩個(gè)差動速度的控制是通過一個(gè)數(shù)字PD控制器,控制智能車的兩個(gè)輪子,實(shí)現(xiàn)差速運(yùn)行,其中PD控制中的微分環(huán)節(jié)通過陀螺儀實(shí)現(xiàn)的。整個(gè)系統(tǒng)是由鎳鎘充電電池來進(jìn)行供電的,驅(qū)動芯片直接由電池供電的,最小系統(tǒng),編碼器5V穩(wěn)壓芯片7805穩(wěn)壓成5V,3.3v穩(wěn)壓器芯片1117的陀螺儀和加速度傳感器供電。智能車的在線調(diào)試使用串行端口。 通過兩輪智能循跡車系統(tǒng)的設(shè)計(jì),開發(fā)和研究,取得了一定的成績,但仍然不完善的地方,有待進(jìn)一步研究。
[Abstract]:With the rapid development of automobile electronic technology, Volkswagen requires more and more safety, environmental protection, intelligence and information technology in addition to driving. The intelligent vehicle, which emerges as the times require, plays a more and more key role in the intelligent transportation system (ITS). The key technology of intelligent vehicle autopilot has a broad application prospect in traffic, and has received extensive attention. The research of intelligent vehicle system is related to automatic control, artificial intelligence, information fusion, sensor, image processing and computer science, and the research of intelligent vehicle control system is one of the most active research fields. The design of intelligent vehicle system, based on the basic model of intelligent vehicle, the mechanical structure and hardware circuit meter of intelligent vehicle body are designed, and the automatic tracking decision system and control algorithm of intelligent vehicle are studied. In this paper, the magnetic pursuit vertical intelligent vehicle system MC9S12XS128MAL single chip microcomputer is designed as the core control unit, combined with ENC-03 gyroscope and digital acceleration sensor MMA7660 to measure the tilt of intelligent vehicle and ground, the data of acceleration sensor MMA7660 is collected through IIC serial acquisition and A 鈮，

本文編號：2509973