节点文献
智能小车循迹控制算法优化与设计
Optimization and Design of Tracking Control Algorithm for Smart Cars
【摘要】 本文对基于红外传感器的智能小车路径识别算法和循迹控制算法进行了优化设计。基于红外传感器识别黑色轨迹特性曲线的对称性和近似线性的特征,实现了连续路径识别,并提高了识别精度。针对传统PID算法控制参数不能实时调整的缺点,设计了控制参数可以随小车运行轨迹和速度实时调整的改进PID算法。并对路径识别以及循迹控制算法进行测试,测试结果表明,采用改进PID算法控制的智能小车克服了在高速运行时的抖动现象,并且速度明显提高。
【Abstract】 In this paper,the intelligent sensor path recognition algorithm and tracking control algorithm based on infrared sensor were optimized.Based on the infrared sensor,the symmetry and approximate linear characteristics of the black trajectory characteristic curve were identified.The continuous path recognition was realized and the recognition accuracy was improved.Aiming at the shortcomings of the traditional PID algorithm control parameters cannot be adjusted in real time,an improved PID algorithm with control parameters that could be adjusted in real time with the car’s running trajectory and speed was designed.The path identification and tracking control algorithm were tested.The test results showed that the smart car controlled by the improved PID algorithm overcome the jitter phenomenon of the car during high-speed operation and the speed was obviously improved.
【Key words】 smart car; infrared sensor; path identification; tracking control; PID control;
- 【文献出处】 电工技术 ,Electric Engineering , 编辑部邮箱 ,2019年02期
- 【分类号】TP23;TP273
- 【被引频次】10
- 【下载频次】1468