光电寻迹智能车设计与运动控制.docVIP

摘要 本课题采用AT89C51单片机为核心作为控制主模块、配以路径识别模块、车速检测模块、直流电机驱动模块、舵机驱动模块和电源模块等设计了寻迹智能车的硬件控制系统。通过激光传感器对道路轨迹进行自主探测和识别，根据车速检测反馈，运用模糊PID算法处理对智能小车运动状态进行实时有效控制和驱动，以达到速度与稳定性的最佳控制。仿真与实验表明，应用激光检测和模糊控制的智能小车在路径识别的精准度，运动控制的稳定性方面具有明显优势，跑道上运行速度和平稳程度达到了最佳效果。 ABSTRACT This topic is using AT89C51 microcontroller as the core of the main module, together with the path identification module, speed detection module, the DC motor driver module, the servo drive module and power module design the hardware control system for tracing smart car. Independent detection and identification of the road trajectory through the laser sensor, based on feedback from the speed detection, the use of fuzzy PID algorithm to handle real-time control and drive the smart car motion state, to achieve the speed and stability control. Simulation and experiments show that the recognition accuracy of laser detection and fuzzy control of smart car in the path, motion control, stability has obvious advantages, speed and smooth on the runway to achieve the best results. Key words: intelligent vehicle; laser sensor; tracing; motion control algorithm  目 录 1 绪论..................................................................1 1.1 课题背景及目的....................................................1 1.2 国内外研究状况....................................................1 1.3 课题研究方法......................................................2 1.4 论文构成及研究内容................................................3 2 方案论证与理论分析....................................................4 2.1 方案论证与比较....................................................4 2.2 理论分析..........................................................4 2.2.1 PID控制器和控制算法.........................................4 2.2.2 模糊PID控制器..............................................7 3 硬件设计..............................................................10 3.1 车体结构设计......................................................10 3.1.1 传感器的布局与安装.............................