基于CH32的多车编队小车的设计  

Design of Multi-car Formation Trolley Based on CH32

作　　者：王柯竣 胡乃瑞 Wang Kejun

机构地区：[1]沈阳航空航天大学电子信息工程学院,辽宁沈阳110000 [2]中国科学院沈阳自动化研究所,辽宁沈阳110000

出　　处：《工业控制计算机》2023年第9期154-155,共2页Industrial Control Computer

基　　金：2022年大学生省级创新创业训练计划项目(S202210143038);2022年大学生校级创新创业训练计划项目(X202210143090)。

摘　　要：为满足当前时代人们对无人驾驶的需求,并解决长途司机疲劳驾驶的问题,利用和实际汽车相仿的汽车模型作为研究对象,设计一种基于CH32V307单片机的多车编队系统;根据具体指定任务,利用电磁引导、蓝牙组网、超声波模块、霍尔编码器,以三辆车为例组建多车编队系统。实验结果表明,该系统可以将小车间距稳定控制在5 cm内,并可准确完成编队任务。In order to meet the demand of driverless drivers in the current era and solve the problem of fatigue driving of long-distance drivers,a multi-vehicle formation system based on CH32V307 microcontroller is designed by using a car model similar to the actual car as the research object.According to the specific task,the multi-vehicle formation system is composed of three vehicles using electromagnetic guidance,Bluetooth networking,ultrasonic module and Hall encoder.The experimental results show that the distance between vehicles can be controlled stably within 5 cm,and the formation task can be accurately completed.

关 键 词：多车编队 CH32V307 卡尔曼滤波 蓝牙组网 超声波控距 霍尔编码器 

分 类 号：TP368.1[自动化与计算机技术—计算机系统结构] U463.6[自动化与计算机技术—计算机科学与技术]