基于电磁感应的自主循迹智能车设计  

Design of Autonomous Tracking Intelligent Vehicle Based on Electromagnetic Induction

作　　者：詹汉彬 王憬 樊浩然 杨青胜 ZHAN Hanbin;WANG Jing;FAN Haoran;YANG Qingsheng(College of Electrical Engineering and Automation,Hubei Normal University,Huangshi 435002,China)

机构地区：[1]湖北师范大学电气工程与自动化学院,黄石435002

出　　处：《自动化与仪表》2023年第10期16-19,23,共5页Automation & Instrumentation

基　　金：2022年大学生创新创业计划省级项目(D202205031836522418)。

摘　　要：基于电磁感应原理,采用CH32V307核心控制单元,该文提出了一种电磁循迹智能车设计方案。循迹智能车利用LC电路及运放模块获取赛道信息,通过赛道电感特征值识别当前赛道类型。采用PD算法对S3010舵机进行准确转向控制,脉冲编码器与RS-380电机构成闭环系统,使用增量式PID对智能车速度进行精准控制,从而完成智能车运动与转向的闭环控制,实现智能循迹的功能。为提升智能车循迹效果,通过中值平均滤波的方法获取更准确的电感值,此外为提升智能车对赛道的适应性,采用归一化处理法对赛道信息进行限制从而使得智能车适应力更强,最终完成整个自主循迹过程。Based on the principle of electromagnetic induction and CH32V307 core control unit,a design scheme of electromagnetic tracking intelligent vehicle is proposed.The tracking intelligent vehicle uses LC circuit and operational amplifier module to obtain track information and identify the current track type through the track inductance characteristic value.PD algorithm is adopted to accurately control the steering gear of S3010,pulse encoder and RS-380 motor constitute a closed-loop system,and incremental PID is used to accurately control the speed of intelligent vehicle,so as to complete the closed-loop control of the movement and steering of intelligent vehicle and realize the function of intelligent tracking.In order to improve the tracking effect of the intelligent car,the median average filtering method is used to obtain more accurate inductance value.In addition,to improve the adaptability of the intelligent car to the track,the normalization processing method is adopted to limit the track information,so as to make the intelligent car more adaptable,and finally complete the entire autonomous tracking process.

关 键 词：CH32V307 电磁感应 PID算法 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]