小型智能车电机驱动与速度控制系统设计  

Design of Motor Drive and Speed Control System for Small Smart Car

作　　者：丁彦强 张凤生[1] 刘丹阳 DING Yan-qiang;ZHANG Feng-sheng;LIU Dan-yang(College of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学机电工程学院,山东青岛266071

出　　处：《山东工业技术》2021年第1期39-44,共6页Journal of Shandong Industrial Technology

摘　　要：本文对基于MK60DN512ZVLQ10微控制器的小型智能车控制系统进行改进。在程序设计上,采用双边沿检测识别赛道,并采用位置式PD控制舵机转向和增量式PID控制驱动电机转速,从而在保证行驶轨迹精度的前提下,提高智能车行驶速度。在硬件方面,通过对智能车各组成部分总体布局进行改进,使结构重心降低,提高其运行稳定性。通过安装光电编码器和对驱动电路的改进设计,增强对智能车加速、差速与制动的闭环反馈控制性能,提高了智能车通过弯道的速度和稳定性。This article employs the control system of small smart car based on MK60 DN512 ZVLQ10 microcontroller. In terms of program design, double edge detection is used to identify the track, and position PD is used to control the steering of the steering gear and incremental PID to control the speed of the drive motor, so as to improve the driving speed of the smart car while ensuring the accuracy of the driving track. In terms of hardware, by improving the overall layout of each component of the smart car, the center of gravity of the structure is lowered and its operational stability is improved. By installing a photoelectric encoder and improving the design of the drive circuit, the closed-loop feedback control performance of the acceleration, the differential and braking of the smart car are enhanced, and the speed and stability of the smart car through the curve are improved.

关 键 词：小型智能车 直流电机驱动 PID控制 边缘检测 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]