基于RT-Thread的卫星导航控制系统研究  

Research on Satellite Navigation Control System Based on RT-Thread

作　　者：宋丽 鲁海宁 孙崇书 宋涛 宋建平 SONG Li;LU Haining;SUN Chongshu;SONG Tao;SONG Jianping(Yantai Institute of Science and Technology,Yantai 265600,China;Shandong Pengxiang Automobile Co.,Ltd,Yantai 265600,China;Penglai Jutal Offshore Engineering Heavy Industries Co.,Ltd,Yantai 265600,China)

机构地区：[1]烟台科技学院,山东烟台265600 [2]山东蓬翔汽车有限公司,山东烟台265600 [3]蓬莱巨涛海洋工程重工有限公司,山东烟台2656001

出　　处：《农机使用与维修》2024年第12期17-23,共7页Agricultural Machinery Using & Maintenance

基　　金：烟台市科技创新发展计划项目(2022ZDCX019)。

摘　　要：随着制造业的发展,自动引导车被广泛应用于现代工业领域,由于作业环境复杂程度变高,对车辆控制系统硬件的稳定性、灵活性,软件系统的实时性、模块化程度有了更高要求。从自动引导车的需求出发,对导航控制系统的硬件及软件进行了设计,后针对路径规划与路径追踪模块,提出了一种路径规划与追踪控制方法,通过输入不同的横向误差与速度进行指定模糊规则,最终得到合适的预瞄距离,从而使车辆实现自适应预瞄距离的功能,提高车辆的自适应能力。试验结果证明了设计的可行性,为后续自动引导车的控制系统研究提供参考。With the development of the manufacturing industry,automatic guided vehicles are widely used in the field of modern industry,due to the complexity of the operating environment,the stability and flexibility of the vehicle control system hardware and the real-time and modularity of the software system have higher requirements.Starting from the needs of the automatic guided vehicle,the hardware and software of the navigation control system are designed,and then a path planning and tracking control method is proposed for the path planning and path tracing module,and the fuzzy rules are specified by inputting different lateral errors and speeds,and finally the appropriate preview distance is obtained,so that the vehicle realizes the function of adaptive preview distance and improves the adaptive ability of the vehicle.The test results prove the feasibility of the design and provide a reference for the subsequent research on the control system of the automatic guided vehicle.

关 键 词：RT-THREAD GNSS AGV 控制系统 模糊控制 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]