基于单片机的自动循迹激光导引智能车PID控制系统设计  

PID Control System Design for Automatic Tracking Laser Guided Intelligent Vehicle Based on Microcontroller

作　　者：王楠 WANG Nan(Yangling Vocational&Technical College,Xianyang 712100,China)

机构地区：[1]杨凌职业技术学院,陕西咸阳712100

出　　处：《计算机测量与控制》2024年第9期184-192,共9页Computer Measurement &Control

基　　金：杨凌职业技术学院科研项目(ZK22-41)。

摘　　要：智能车在运行过程中,如果遇到突然出现的障碍物或者道路塌陷等情况,容易发生意外;为保证智能车的辅助驾驶功能和安全性能,设计一种基于单片机的自动循迹激光导引智能车PID控制系统;加设MC9S12XS128单片机处理器,改装激光器、测速与测角单元、智能车PID控制器和智能车驱动模块,完成硬件系统的优化;在硬件系统的支持下,根据激光信号的接收结果,规划智能车的引导轨迹,完成自动循迹激光导引工作;利用硬件设备获取智能车的移动速度、位置和转向角,实现对智能车实时运动状态的检测;综合考虑运动参数与规划轨迹之间的偏差,生成智能车PID控制指令,通过舵机转向控制和驱动速度控制,完成系统的控制功能;通过系统测试实验得出结论:优化设计系统的速度和转向角控制误差分别降低了5.37 mm/s和0.25°,同时智能车移动平衡度得到明显提升。If encountering sudden obstacles or road collapses,intelligent vehicles are prone to accidents during operation.To ensure the auxiliary driving function and safety performance of intelligent vehicles,a PID control system based on single-chip microcomputer for automatic tracking laser guidance intelligent vehicles is designed.Install an MC9S12XS128 microcontroller processor,modify the laser,speed and angle measurement unit,intelligent vehicle PID controller,and intelligent vehicle drive module,and complete the optimization of the hardware system.With the support of the hardware system,based on the receiving results of laser signals,plan the guidance trajectory of the intelligent vehicle and complete the automatic tracking laser guidance.Utilize hardware devices to obtain the movement speed,position,and steering angle of the intelligent vehicle,and achieve the real-time detection of intelligent vehicle motion status.By taking into account the deviation between motion parameters and planned trajectory,the intelligent vehicle PID control instructions are generated,and the control function of the system is achieved through the servo steering and driving speed control.Through system testing experiments,the results show that the speed and steering angle control errors of the optimized design system are reduced by 5.37 mm/s and 0.25°,respectively,while the mobile balance of the intelligent vehicle is significantly improved.

关 键 词：单片机 自动循迹 激光导引智能车 PID控制系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]