采用模糊控制的电磁循迹三轮小车  

Three-wheeled Car Model of Electromagnetism Tracking by Using Fuzzy Control

作　　者：蒋宗祥 林乐彬 彭晓旭 李金夺 JIANG Zong-xiang;LIN Le-bin;PENG Xiao-xu;LI Jin-duo(School of Mechanical and Electrical Engineering,Northeast Forestry University,Heilong.jiang Harbin 150040 China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040

出　　处：《科技创新与生产力》2018年第7期93-96,共4页Sci-tech Innovation and Productivity

摘　　要：为实现三轮车模循迹功能,选用高精度电感与运算放大器进行信号处理,使用汽车电子KEAZ128芯片作为主控芯片,对采集的信号进行滤波与归一化处理。结合其机械结构的特点,使用模糊PD算法控制方向环,使用增量式PI算法控制速度环,并优化参数使两环互相配合,最大程度减小静态误差,提高系统响应速度。为保证车体硬件部分不成为车体运行的负担,将电路板面积压缩至最小,使用航模碳素杆支撑传感器,配合万向轮,使车体转向更加灵活。In this paper, in order to realize function of tracking of three-wheeled car model, the authors conducted signal processing by selecting high-precision inductance and operational amplifier and smoothing and normalization to collected signals by taking automotive electronic KEAZ128 chip as main control chip. Combined with characteristics of its mechanical structure,the authors controlled direction loop by using fuzzy PD algorithm, controlled speed loop by using incremental PI algorithm.In order to minimize the static error and improve the system response speed to the maximum extent, the authors optimized parameters and made the two loops work in coordination. And, in order to ensure that the hardware part of the car body does not become the burden of car body operation, the authors minimized the circuit board area, and supported sensor by using RC carbon rod to cooperate with universal wheel, which make car body steering more flexible.

关 键 词：模糊控制 模糊PD 三轮车模 电磁循迹 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]