时代农机
時代農機
시대농궤
Hunan Agricultural Machinery
2015年
7期
35,37
,共2页
线性CCD%卡尔曼滤波%平衡车%自动控制
線性CCD%卡爾曼濾波%平衡車%自動控製
선성CCD%잡이만려파%평형차%자동공제
linear CCD%Kalman filter%Balanced car%automatic control
该控制系统采用飞思卡尔MC9SXS128单片机作为控制核心,利用128觹1线性CCD进行道路信息采集;采用卡尔曼滤波算法进行陀螺仪和加速度计信息融合,计算出车模的角度和角速度,调整车模保持平衡.整个系统由道路信息采集系统、直立控制系统和速度控制系统三个闭环组成,实现车模直立、加速、减速、过路障和过桥等各种复杂动作. 上位机监测系统接受无线模块上传的数据信息,经过处理、分析,使车模能够快速、准确、稳定地跟踪引导线.
該控製繫統採用飛思卡爾MC9SXS128單片機作為控製覈心,利用128觹1線性CCD進行道路信息採集;採用卡爾曼濾波算法進行陀螺儀和加速度計信息融閤,計算齣車模的角度和角速度,調整車模保持平衡.整箇繫統由道路信息採集繫統、直立控製繫統和速度控製繫統三箇閉環組成,實現車模直立、加速、減速、過路障和過橋等各種複雜動作. 上位機鑑測繫統接受無線模塊上傳的數據信息,經過處理、分析,使車模能夠快速、準確、穩定地跟蹤引導線.
해공제계통채용비사잡이MC9SXS128단편궤작위공제핵심,이용128휴1선성CCD진행도로신식채집;채용잡이만려파산법진행타라의화가속도계신식융합,계산출차모적각도화각속도,조정차모보지평형.정개계통유도로신식채집계통、직립공제계통화속도공제계통삼개폐배조성,실현차모직립、가속、감속、과로장화과교등각충복잡동작. 상위궤감측계통접수무선모괴상전적수거신식,경과처리、분석,사차모능구쾌속、준학、은정지근종인도선.
The control system adopts the single chip microcomputer freescale MC9SXS128 as its control core,it collect road information with a 128*1 linear CCD;Kalman filtering algorithm is adopted to integrate the information about gyroscope and accelerometer calculate the angle and angular velocity of the model,adjust and balance the model.The whole system composed three closed loops,including road information acquisition system,vertical control system and speed control system,which helps to models to erect,speed up,slow down,pass roadblock and cross bridges and carry out other complex motions.PC monitoring system would receive the data and information uploaded by wireless modules,after processing and analysis,it would make models track guide lines rapidly,accurately and stablely.
