基于电磁导航智能车的控制研究及实现  

Control Research and Realization of the Intelligent Vehicle Based on the Electromagnetic Navigation

作　　者：吴祥[1] 王冠凌[1] 

机构地区：[1]安徽工程大学电气工程学院,安徽芜湖241000

出　　处：《四川理工学院学报（自然科学版）》2015年第6期42-46,共5页Journal of Sichuan University of Science & Engineering(Natural Science Edition)

基　　金：安徽高校省级自然科学研究重点项目(KJ2013A042)

摘　　要：在分析研究智能化自主驾驶技术的基础上,设计了一种电磁自主导航式智能车控制系统。以飞思卡尔32位微处理器MK60FN1M0VLQ15为主控模块,包括电源模块、起跑线检测模块、电磁检测模块、舵机转向模块、速度检测模块、直流电机模块、人机交互模块等组成。对于车速的控制,在传统PID控制的基础上,提出了Fuzzy-PID控制的自适应控制算法,并进行了仿真对比验证。实验结果表明,该方案能很好地实现对智能车的最优控制,对复杂赛道有很强的适应性。On the basis of the analysis and study of intelligent autonomous driving technology, a kind of electromagnetic autonomous navigation control system of intelligent vehicle had been designed. The control system used Freescale 32-bit microprocessor MK6OFN1MOVLQ15 as the main control module, including the power module, the detection module of the starting line, the electromagnetic detection module, the steering control module, the speed detection module, the DC motor control module, the man-computer interaction module and so on. For the speed control, on the basis of the traditional PID control, the adaptive control algorithm of Fuzzy-PID control was proposed, which was verified by simulation and comparison. The experimental results showed that the proposed scheme can achieve the optimal control of the intelligent vehicle, which has a strong adaptability to the complex circuit.

关 键 词：电磁导航 模糊控制 飞思卡尔 智能车 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]