学做智能车挑战飞思卡尔之智能车制作课件

1、 学做智能车挑战飞思卡尔-邹玉龙Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd. 学做智能车挑根据车模检测路径方案不同分为 光电组摄像头组电磁组Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.根据车模检测路径方案不同分为 光电组Evalua

2、tion o光电组 车模通过采集赛道上少数孤立点反射亮度进行路经检测的属于光电组。Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.光电组Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation o

3、nly.摄像头组 车模通过采集赛道图像（一维、二维）或者连续扫描赛道反射点的方式进行进行路经检测的属于摄像头组Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.摄像头组Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty L

4、td.Evaluation only.电磁组 车模通过感应由赛道中心电线产生的交变磁场进行路经检测的属于电磁组Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.电磁组Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Lt

5、d.Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only. 智能车整体概念模型Evaluation o

6、nly.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd. 智能车整体概念模型Evaluation only.舵机舵机（伺服电机）Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.舵机舵机（伺服电机）Evaluation only.Evaluation only.Create

7、d with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only.舵机控制方法三线连接方式红线：电源线+6V蓝线：地线黑线：PWM控制信号Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.舵机控制方法三线连接方式Evaluation only. PWM即脉冲宽度调制（Pu

8、lse Width Modulation,简称PWM）是通过脉宽调制的原理，改变脉冲在每一个周期内高低电平的时间，它是利用微处理器的数字输出来对模拟电路进行控制的一种非常有效的技术 。Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd. PWMEvaluation only.转角与脉宽Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profil

9、e .Copyright 2004-2011 Aspose Pty Ltd.转角与脉宽Evaluation only.转角与脉宽Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.转角与脉宽Evaluation only.直流电机Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2

10、004-2011 Aspose Pty Ltd.直流电机Evaluation only.直流电机模型Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.直流电机模型Evaluation only.电机驱动Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty

11、Ltd.电机驱动Evaluation only.编码器旋转编码器光电编码器Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.编码器旋转编码器Evaluation only.旋转编码器是一种采用光电等方法将轴的机械转角转换为数字信号输出的精密传感器，分为增量式旋转编码器和绝对式旋转编码器。Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Prof

12、ile .Copyright 2004-2011 Aspose Pty Ltd.旋转编码器是一种采用光电等方法将轴的机械转角转换为数字信号输Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004

13、-2011 Aspose Pty Ltd.Evaluation only.光电式编码器的工作原理如下：随转轴一起转动的脉冲码盘上有均匀刻制的光栅，在码盘上均匀地分布着若干个透光区段和遮光区段。Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.光电式编码器的工作原理如下：随转轴一起转动的脉冲码盘上有均匀Evaluation only.Created with Aspose.Slides for .NET 3.5 Clie

14、nt Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only.陀螺仪陀螺仪可算是非常复杂的物体，因为它们以独特的方式运动，甚至像在抵抗重力。正是这些特殊属性使其在各个方面（包括自行车和宇宙飞船上的先进导航系统）都有极为重要的用途。一般的飞机要用约10多个陀螺仪，遍布在罗盘和自动驾驶仪等各个地方。俄罗斯米尔空间站曾使用11个陀螺仪保持其方向对准太阳。哈勃太空望远镜也安装了大量导航陀螺仪。同样，陀螺效应对溜溜球和飞盘等玩具也至关重要。Evaluation only.Created with Aspose.Slides f

15、or .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.陀螺仪陀螺仪可算是非常复杂的物体，因为它们以独特的方式运动，电磁车视频Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.电磁车视频Evaluation only.车模运动控制运行速度控制控制对象：运行电机控制方法：线性调压、PWM驱动转向控制控制对象：舵机（R/C Servo）控制

16、方法：PWM脉宽 舵盘角位Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.车模运动控制运行速度控制Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only.路径处理直道，小S弯，大S弯，

17、十字交叉，坡道，普通弯道Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.路径处理Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only.Evaluation only.Created

18、with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client P

19、rofile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only.控制策略舵机控制策略（转向）电机控制策略（速度）Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .C

20、opyright 2004-2011 Aspose Pty Ltd.控制策略Evaluation only.控制算法PID算法模糊控制自适应鲁棒控制 其它算法Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.控制算法PID算法Evaluation only.PID控制算法是控制系统中技术比较成熟，应用最广泛的一种控制算法，它的结构简单、相比来说，参数容易调整，不一定需要系统的确切数学模型，因此在各个领域内都有广泛应用。

21、PID控制算法即将偏差的比例（P）、积分（I）和微分（D）通过线性组合构成控制量，用这一控制量对被控对象进行控制。在PID控制算法中有四个比较重要的参量：采样周期、比例系数、积分系数和微分系数。 Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.PID控制算法是控制系统中技术比较成熟，应用最广泛的一种控制Evaluation only.Created with Aspose.Slides for .NET 3.5 Cl

22、ient Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only.比例调节是按比例反应系统的偏差，系统一旦出现了偏差，比例调节立即产生调节作用用以减少偏差。比例作用大，可以加快调节，减少误差，但是过大的比例，使系统的稳定性下降，甚至造成系统的不稳定。 Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.比例调节是按比例反应系统的偏差，系统一旦出

23、现了偏差，比例调节积分调节是使系统消除稳态误差，提高无差度。因为有误差，积分调节就进行，直至无差，积分调节停止，积分调节输出一常值。积分作用的强弱取决与积分时间常数Ti，Ti越小，积分作用就越强。反之Ti大则积分作用弱，加入积分调节可使系统稳定性下降，动态响应变慢。 Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.积分调节是使系统消除稳态误差，提高无差度。因为有误差，积分调微分调节反映系统偏差信号的变化率，具有预见性

24、，能预见偏差变化的趋势，因此能产生超前的控制作用，在偏差还没有形成之前，已被微分调节作用消除。因此，可以改善系统的动态性能。 Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.微分调节反映系统偏差信号的变化率，具有预见性，能预见偏差变化增量式PID控制的算法为： u (n)= kp e(n)- e(n-1)+ kIe(n)+ kD e(n)-2 e(n-1) +e(n-2) u (n)为n时刻的输出量，kp为比例放大系

25、数，kI为积分放大系数，kD为微分放大系数，e(n)为n时刻的偏差量，e(n-1)为n 1时刻的偏差量，e(n-2)为n 2时刻的偏差量。Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.增量式PID控制的算法为： Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyrigh

26、t 2004-2011 Aspose Pty Ltd.Evaluation only.PID演示软件Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.PID演示软件Evaluation only.机械改造舵机的安装 编码器的安装传感器的安装车模结构的改造校正 车体重心的调整 其它Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile

27、.Copyright 2004-2011 Aspose Pty Ltd.机械改造舵机的安装 Evaluation only.第六届比赛现场视频Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.第六届比赛现场视频Evaluation only.调试工具串口 蓝牙无线液晶薄码开关 键盘上位机其它Evaluation only.Created with Aspose.Slides for .NET 3.5 Cl

28、ient Profile .Copyright 2004-2011 Aspose Pty Ltd.调试工具串口 Evaluation only.拨码开关Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.拨码开关Evaluation only.蓝牙模块Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .

29、Copyright 2004-2011 Aspose Pty Ltd.蓝牙模块Evaluation only.无线模块Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.无线模块Evaluation only.液晶模块Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspo

30、se Pty Ltd.液晶模块Evaluation only.液晶显示Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.液晶显示Evaluation only. 上位机和下位机上位机是指人可以直接发出操控命令的计算机，一般是PC，屏幕上显示各种信号变化（液压，水位，温度等）。下位机是直接控制设备获取设备状况的计算机，一般是PLC/单片机之类的。Evaluation only.Created with Aspose.Sl

31、ides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd. 上位机和下位机上位机是指人可以直接发出操控命令的计算机，一Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.Evaluation only.Evaluation only.Created with Aspose.Slides for .NET 3.5 Client Profile .Copyright 2004-2011 Aspose Pty Ltd.