Position: Home > Articles > Design for the Control System of Intelligent Vehicle with Linear CCD
Journal of Shandong Agricultural University(Natural Science Edition)
2016,47
(5)
731-735
线性CCD智能车的控制系统设计
作 者：
张仁尊
单 位：
山东科技大学电气与自动化工程学院
关键词：
线性CCD;智能车;控制系统
摘 要：
该智能车控制系统由电源稳压模块、直流电机驱动模块、赛道信息识别模块、速度检测模块、倾角检测模块、OLED显示模块和串口调试模块组成。采用32位Cortex-M4内核的微处理器MK60DN512ZVLQ10作为核心控制单元,在此基础上应用相应控制程序来实现直立、方向、速度控制。通过自平衡小车动力学建模,获得小车平衡条件;利用陀螺仪和加速计获得车体的倾角和角速度;对小车倾角进行PD控制实现小车的基本直立;通过光电编码器测得小车的速度,并对速度进行PID控制;将转速控制信号与平衡控制信号叠加到后轮两电机上,实现小车的静止和直立行走;采用TSL1401线性CCD获得赛道图像信息,经过对图像的去噪处理,准确快速的提取出的赛道中心线,获得小车的方向偏差控制量;通过对方向控制量和转向角速度进行PD控制来调节左右两轮的差速实现小车的转向和自主寻迹。
译 名：
Design for the Control System of Intelligent Vehicle with Linear CCD
作 者：
ZHANG Ren-zun;College of Electrical Engineering and Automation/Shandong University of Science and Technology;
关键词：
Linear CCD;;intelligent vehicle;;control system
摘 要：
The system is mainly composed of a power supply module, DC motor drive module, road information identification module, speed detection module, tilt angle detection module, OLED display module and debugging module etc.This design used microprocessor MK60DN512ZVLQ10 with 32 bit Cortex-M4 kernel as the core control unit to perform the control for upright, direction, and speed with corresponding programs. Specifically, balanced conditions were gotten through the design of dynamic modeling; angle and velocity were gotten by Gyroscope and Accelerometer; the basic upright was realized by way of PD controlling angel; speed was monitored by the Photo Electric Encoder and controlled by PID;stationary and upright movement performed by the overlay of rotating and balancing signals on two motors of rear wheels;the track image formation was obtained by TSL1401 linear CCD and eliminated noise to extract the track center line quickly and accurately so as to obtain the direction deviation control; steering and autonomous tracing were implemented by the direction control and steering angular velocity controlled with PD to adjust the differentials of left and right wheels.
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