CAJ | 학술논문

为了实现智能小车自主寻迹的功能，设计了一种电磁导航式智能车控制系统。以飞思卡尔16位单片机MC9S128为核心控制单元，重点阐述了路径信息采集和直流驱动电机的模块设计，确立了传感器的排布方案。针对转向控制系统的特点，提出了基于模糊控制的舵机转向控制算法，并进行了仿真对比验证。试验结果证明，该方案实现了车模舵机转向的最优化控制有效改善了智能车的动态性能，提高了小车自主寻迹的可靠性。
위료실현지능소차자주심적적공능，설계료일충전자도항식지능차공제계통。이비사잡이16위단편궤MC9S128위핵심공제단원，중점천술료로경신식채집화직류구동전궤적모괴설계，학립료전감기적배포방안。침대전향공제계통적특점，제출료기우모호공제적타궤전향공제산법，병진행료방진대비험증。시험결과증명，해방안실현료차모타궤전향적최우화공제유효개선료지능차적동태성능，제고료소차자주심적적가고성。
In order to realize the self-tracking function of smart car, the electromagnetic navigation control system for smart car has been designed. Using Freescale 16-bit single chip machine MC9S128 as the kernel control unit, the design of path information acquisition and DC motor drive module are described emphatically, and the sensor allocation scheme is established. In accordance with the features of steering control system, the servo steering control algorithm based on fuzzy control is proposed. In addition, the contrast verification and simulation are conducted. The experimental results show that the design scheme achieves optimum control for servo steering, effectively improves the dynamic performance of the smart car, and enhances the reliability of the self-tracking capability.