（编）飞思卡尔智能车光电(8页)要点.doc

基于光耦传感器的控制方法-从离散量到连续量 康世胤1，李长城2，莫一林3，顾全全4，陆耿5 (1. 清华大学 自动化系，北京 100084； 2. 清华大学 自动化系，北京 100084； 3. 清华大学 自动化系，北京 100084； 4. 清华大学 自动化系，北京 100084； 5. 清华大学 自动化系，北京 100084) 摘要: 第一届“飞思卡尔”杯全国大学生智能车邀请赛 Control Method Based on Photoelectric Coupling Device – from Discrete Signal to Continual Signal KANG Shiyin1，LI Changcheng2，MO Yilin3，GU Quanquan4，LU Geng5 (1. Automation, Tsinghua University, Beijing 100084, China； 2. Automation, Tsinghua University, Beijing 100084, China； 3. Automation, Tsinghua University, Beijing 100084, China； 4. Automation, Tsinghua University, Beijing 100084, China； 5. Automation, Tsinghua University, Beijing 100084, China；) Abstract: In the coming FREESCALE College Student Smart Car Competition ’06, real time control strategies are required to be applied in the high-speed model car which to make sure the car tracking the unknown road and finishing 2 laps of game. Based on the requirement we select one of the most well applied proportion-integration-deviation (PID) method. Much works are carried out including trying varies of strategy from initial discrete PD to final continual PD. In the current strategy analog output of photoelectric coupling devices are sampled and converted from A to D. Symmetric positioning method is applied to obtain precise direction information. Furthermore by applying dual sensor array the turning angle is calculated. PD method is applied on location and angle. After careful modification the corresponding parameters are decided empirically. In addition by using some other methods such as track segmentation and dead area presetting, the model car can obtain better status including good stability and fine tracking character in high speed. Key words: Road Tracking, Proportion-Integration-Deviation Control, Symmetric Positioning, Discrete, Continual 第一届“飞思卡尔”杯全国大学生智能车邀请赛。 比例控制 比例调节主要用于影响系统响应速度，在一定范围内，比例带越小系统的响应越快。 对于比赛中的小车系统，比例带减小将加快控制速度，从而提高小车对赛道中心线的跟随特性，但比例带过小将使小车产生振荡甚至跑出赛道。实际中发现，成比例的控制并不是最好的方案，类似抛物线的中间控制量变化慢，两端控制量变化快的控制更有助于消除