Research And Development Of The Intelligent Automobile Kinetic Control System

In this paper,the intelligent automobile kinetic control system is designed.In the robot hardware design,two motors are fixed on the drive wheel with differential control.The hardware platform of intelligent automobile control system is based on LPC2368 as the core,through the photosensor,anti-clash switch and ultrasonic sensor to achieve the multiple functions of the automobile.According to the actual body of intelligence automobile,the mathematic model is built by kinematics analysis for optimizing the controller of intelligence automobile.In the algorithm of path-tracking,the position relation between the drive wheel and trace when intelligence automobile moving is deduced.The real-time position of intelligence automobile is deduced.The fuzzy-controller of path-tracking is designed.The path-tracking control is simulated in MATlab circumstances with the fuzzy-controller and PID-controller.The result explains the superiority of fuzzy-controller in the path-tracking.Specifically for the intelligent automobile kinetic control system,the main content of this paper is as follow:(1)According to kinematics principle,variety control models are built to satisfy the need of intelligent automobile for realizing the optimum control.(2) And the problem of path-tracking has been studied.The path-tracking of intelligent automobile has been realized by fuzzy-control.And this method has been compared with PID in MATlab circumstances.(3)In this paper,the control system of intelligent automobile is designed.And the hardware platform of intelligent automobile is designed which is based on LPC2368 as the core.(4)To meet the need of intelligent automobile for real-time,embedded operation system is used to design the software with plantingμC/OS-Ⅱto LPC2368.