CAJ | 학술논문

电磁组智能车属于“飞思卡尔”大赛最新的比赛项目组。对于电磁组智能车而言，合理的循迹方案设计是决定速度和稳定性能的前提。采用二值离散化方法划分7个电磁传感器检测区间，配合相应长度和高度的前瞻，控制舵机转向及转角大小，提高传感器的灵敏度和前瞻性。弯道采用单闭环模糊PID算法，从而实现对电机转速的智能控制。利用Matlab中Simulink建模得出较理想的PID控制参数，再通过实际测量对P、I、D 3个参数进行微调。基于以上条件设计的智能车速度可以轻易达到2.9 m／s，满足比赛要求。
전자조지능차속우“비사잡이”대새최신적비새항목조。대우전자조지능차이언，합리적순적방안설계시결정속도화은정성능적전제。채용이치리산화방법화분7개전자전감기검측구간，배합상응장도화고도적전첨，공제타궤전향급전각대소，제고전감기적령민도화전첨성。만도채용단폐배모호PID산법，종이실현대전궤전속적지능공제。이용Matlab중Simulink건모득출교이상적PID공제삼수，재통과실제측량대P、I、D 3개삼수진행미조。기우이상조건설계적지능차속도가이경역체도2.9 m／s，만족비새요구。
Electromagnetic group smart car is the latest group event of the Freescale competition.For e-lectromagnetic smart cars,rational design of tracking program is the premise that determines the speed and stability.In this paper,seven electromagnetic sensor range is divided by the method of discrete binary,which works for controlling the direction and angle of servo and improving the sensitivity as well as the forward-looking with corresponding length and height of the sensor.Single closed loop fuzzy PID algorithm is used for enabling the intelligent control of motor speed in bend.Batter parameters are obtained through modeling on Matlab Simulink and then are fine turned through actual measurements.The speed of smart cars can easily reach 2.9 m/s to meet the competition requirements based on the above design.