摘要以“飞思卡尔”杯全国大学生智能汽车竞赛为背景，研究并设计了电磁导引智能车的控制算法。本文首先介绍了电磁导引智能车的组成结构和工作原理,采用预瞄跟随理论对小车进行建模。在此基础上，完成了小车前轮转向系统、后轮驱动系统的建模。完成了后轮驱动电机闭环PID控制算法设计，以及前轮转向舵机模糊控制算法设计，并对电机闭环PID算法和舵机模糊控制算法进行了仿真分析。最后，对系统进行了分模块调试和联调。结果表明，智能车运行稳定，具有良好的动态特性。68283

毕业论文关键词  智能车  数学模型  PID控制  模糊控制

毕业设计说明书（论文）外文摘要

Title  Design and Implementation of Intelligent Vehicle for  the Ninth Freescale Cup—Control Algorithm Design of  Electromagnetic Guided Vehicle Control  System       

Abstract

Based on the Freescale Cup, the control algorithm of electromagnetic guided vehicle is designed. First, the structure and working principle of electromagnetic guided vehicle are introduced in the paper. Then，the intelligent vehicle system is modeled by using preview follower theory. On the base of mastering overall theory, the front steering wheel is modeled and the rear driving wheel is also modeled. The design of rear driving wheel algorithm  with closed-loop PID is completed. The design of front steering wheel algorithm is also completed, which adopts fuzzy control. Next, the article completes the simulation analysis to the algorithm which is mentioned above. Finally, we debug each module respectively and the whole system, It turns out that the intelligent vehicle is stable and has excellent dynamic properties.

Keywords  smart car  mathematical model  PID control  Fuzzy control   

目  次

1  绪论 1

1．1  课题研究背景及意义 1

1．2  智能汽车国内外研究现状 1

1．3  第九届“飞思卡尔”杯全国大学生智能车竞赛简介 3

1．4  本文主要研究内容 4

2  电磁导引智能车总体设计 5

2．1  电磁导引智能车设计要求 5

2．2  电磁导引智能车系统组成结构 5

2．3  电磁导引智能车系统工作原理 6

2．4  本章小结 7

3  电磁导引智能车的系统建模 8

3．1  预瞄跟随理论简介 8

3．2  前轮转向系统建模 9

3．3  后轮驱动系统建模 16

3．4  本章小结 20

4  电磁导引智能车控制策略设计 21

4．1  路径识别算法设计 211

4．2  后轮驱动系统算法设计 24

4．3  舵机控制算法 29

4．4  本章小结 33

5  电磁导引智能车调试 344

5．1  智能车分模块调试 34