飞思卡尔智能车光电资料.docVIP

精品资料/word可编辑 精品资料/word可编辑 PAGE / NUMPAGES 精品资料/word可编辑 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要求对高速行驶的小车进行实时控制，使其巡线完成比赛赛道。针对这种要求，我们选择了最成熟的PID控制，尝试了由离散的不完全微分的PD控制到相对连续PD控制的过渡，通过采集光耦传感器输出的模拟量，采用对称求位置法得到连续性较好的位置信息，利用双排传感器计算角度，对位置和角度同时进行PD控制，经过细致调试确定相应参数，并合理利用分段、设置死区等方法，最终小车可以获得较好的稳定性和在高速情况对赛道中心线的跟随特性。 关键词： 道路寻迹；PID控制；对称定位；离散；连续 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