山东农业大学学报（自然科学版）2016，Vol.47Issue(5)：731-735,5.DOI:10.3969/j.issn.1000-2324.2016.05.018
线性CCD智能车的控制系统设计
Design for the Control System of Intelligent Vehicle with Linear CCD
张仁尊1
作者信息
- 1. 山东科技大学 电气与自动化工程学院，山东 青岛 266500
- 折叠
摘要
Abstract
The system is mainly composed of a power supply module, DC motor drive module, road information identification module, speed detection module, tilt angle detection module, OLED display module and debugging module etc. This design used microprocessor MK60DN512ZVLQ10 with 32 bit Cortex-M4 kernel as the core control unit to perform the control for upright, direction, and speed with corresponding programs. Specifically, balanced conditions were gotten through the design of dynamic modeling; angle and velocity were gotten by Gyroscope and Accelerometer; the basic upright was realized by way of PD controlling angel; speed was monitored by the Photo Electric Encoder and controlled by PID;stationary and upright movement performed by the overlay of rotating and balancing signals on two motors of rear wheels;the track image formation was obtained by TSL1401 linear CCD and eliminated noise to extract the track center line quickly and accurately so as to obtain the direction deviation control; steering and autonomous tracing were implemented by the direction control and steering angular velocity controlled with PD to adjust the differentials of left and right wheels.关键词
线性CCD/智能车/控制系统Key words
Linear CCD/intelligent vehicle/control system分类
信息技术与安全科学引用本文复制引用
张仁尊..线性CCD智能车的控制系统设计[J].山东农业大学学报（自然科学版）,2016,47(5):731-735,5.
