Research Of Cable Tunnel Unmanned Vehicle Steering Control System

At home and abroad, the monitoring of power transmission has been made a lot of results, however, there are also insufficient.In functions, most existing systems are only monitoring a small number of fixed-points, the monitoring function is not comprehensive; lack the functionality of the intelligent analysis of data; cannot automatically handle the accident. To solve the above problems, through the analysis of the existing tunnel monitoring system at home and abroad, puts forward a comprehensive monitoring, display visual, intelligent analysis and processing automaticity of cable tunnel unmanned vehicle monitoring system. This article focuses on the cable tunnel unmanned car steering control system research.Cable tunnel driverless vehicle, which is powered by storage battery, has a corn mechanical system that consists of a carframe, two driving wheels and two inert wheels. To be more detailed, automatic steering control are actualized based on velocity difference of the two driving wheels, on the other hand, inert wheels are supportive. Brushless DC motor is working as the drive wheels of the system. With cameras and ultrasonic probe installed, path information is gathered to implement the system function. STM32F103VBT6micro-controller works as the master control chip. The hardware design includes several modules, power management module, motor drive module, the speed detecting module, alarm module, the data transmission module of obstacle avoidance, man-machine interface module, etc. As for the algorithm control aspect, according to the characteristics of the steering control system, which gathering information of the path through cycle path sensors, both offset angle and offset distance, the position of the car body posture is determined. As a result, the adaptive fuzzy PID and fuzzy PID predictive control algorithm are combined to accomplish the speed and steering control respectively. To verify the feasibility of the algorithm, the Simulink of Matlab is used to object modeling of motor, and the simulation results demonstrate the superiority of the algorithm. In software design, the idea of agent oriented programming to complete the main module and functional sub-modules design. The main module includes initialization program, maintenance, updating and management procedures, while functional sub-modules include speed control and steering control module.After debugging the whole system, the developing mission is accomplished. It is shown that the design is able to improve the controlling of system materially, the reliability, stability and rapidity of the system operation has been further improved, to meet the control requirements of the whole system.