基于PID算法多电机协同运动控制系统的研究与设计.docxVIP

. 基于PID算法多电机协同运动控制系统的研究与设计 摘要 本文所述为一种基于瑞萨H8 单片机的智能寻迹模型车的设计与实现，其核心控制单元为瑞萨公司H8 系列8 位单片机H8/3048F-ONE，系统采用红外传感器检测赛道白线。通过对智能车运动模型的建立与分析，利用光电传感器阵列采集离散的路径信息，控制处理器采用数字PID 控制策略和PWM 控制技术对模型车的速度和方向进行控制。对舵机和驱动电机分别采用了PID 控制算法和间接的PID控制算法，从而避免了智能车转向及车速调节的阶跃式变化，消除了超调及振荡现象，达到了近似连续的控制效果。研究表明，此设计方案可在黑白(或色差较大)赛道上获得良好的自主寻迹效果。该技术可以广泛应用于无人驾驶机动车、无人工厂、仓库、服务机器人等领域。 关键词 智能车；寻迹；光电传感器；路径识别；PID 控制 ABSTRACT In this paper, referred to as a single-chip based on the Renesas H8 model smart car tracing the design and realization of its core control module for Renesas H8 series of 8-bit single-chip H8/3048F-ONE, system uses infrared white line detection sensor circuit. Intelligent vehicle movement through the model and analysis, the use of photoelectric sensor array discrete collection of path information, control processor with digital PID control strategy and PWM control techniques to model the rate and direction of vehicle control. On the steering gear and the drive motor, respectively, a PID control algorithm and indirect PID control algorithm so as to avoid the smart car and speed towards the step-type changes in regulation to eliminate the overshoot and oscillation, reaching results similar to continuous control. Studies have shown that this design can be black and white (or color difference greater) on a good track tracing the effect of autonomy. The technology can be widely used in unmanned aerial vehicles, unmanned factories, warehouses, service robots and other fields. KEY WORDS smart cars; tracing; photoelectric sensor; path identification; PID control 目录 前言 ………………………………………………………………………… 4 系统构成与设计安装 ……………………………………………………… 5 2.1 总体构成 ……………………………………………………………… 5 2.1.1 主控制模块 ……………………………………………………… 6 2.1.2 电源管理模块 …………………………………………………… 6 2.1.3 路径识别模块 …………………………………………………… 6 2.1.4 转向舵机模块 …………………………………………………… 7 2.1.5 电机驱动模块 …………………………………………………… 8 2.1.6 车速检测模块 …………………………………………………… 9 控制策略设计 ……………………………………………………………… 9 3.1 方向控制方案的设计 ………………………………………………… 10 3.1.1 方向计算算法 ……………………………………………