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本文首先对智能车的硬件进行设计,达到了低重心、大前瞻、高稳定性。其次对系统的软件部分进行设计,利用阀值对赛道进行判断,从而得到智能车的偏航角。综合偏航角控制量实现舵机控制,入弯道切内道,大大提高了智能车的弯道运行速度。用光电编码盘检测智能车的运行速度,再根据赛道信息给定智能车的运行速度,运用一些算法调节驱动电机转速,实现了电机的快速响应。经过大量测试,最终确定系统结构和各项控制参数。
This text first designs the hardware of the intelligent car, has achieved the low center of gravity, the great foresight, the high stability. Second, the software part of the system design, the use of thresholds on the track to judge, to get the smart car yaw angle. Integrated control of yaw angle servo control, into the curve cut inside the road, greatly improving the smart car curve run speed. The optical encoder detects the running speed of the smart car, and then according to the track information given the running speed of the smart car, using some algorithms to adjust the driving motor speed, to achieve a fast response of the motor. After a large number of tests, the final system structure and control parameters.