基于双电轨识别的智能寻迹小车设计  

Design of Smart Tracing Car Based on Double Electric Rail Recognition

作　　者：陈广彪 李莉莉 肖红俊 

机构地区：[1]浙江海洋大学船舶与机电工程学院,浙江舟山316000

出　　处：《机械工程师》2017年第11期1-3,7,共4页Mechanical Engineer

基　　金：浙江省教育厅项目(Y201432290);浙江省青年基金项目(LQ15F030007)

摘　　要：为了实现智能车沿双电轨自动寻迹的功能,研究设计了一辆自动识别双电轨的智能寻迹小车。设计以MK60DN512VLQ为核心控制器,依据谐振原理设计电轨信息采集模块,应用加权递推平均滤波及定位算法对采集信息进行处理,并采用闭环PID对舵机转向和电动机转速进行控制,实现智能车快速、稳定地运行。In order to realize the smart car＇s automatically tracing along double electric rails, a smart tracing car is researched and designed to recognize double electric rails automatically. The design employs MK60DN512VLQ as its main controller and designs electric rail information acquisition module based on resonance principle. The weighted recursive average filtering and positioning algorithms, which are used to process the acquisition information, are combined with closed-loop PID to control steering gear and motor speed, and it keeps the intelligent car moving forward quickly and smoothly.

关 键 词：MK60DN512VLQ 信息采集处理 定位算法 

分 类 号：U469.72[机械工程—车辆工程]