Simulation And Realization Of Control Algorithm Of Intelligent Car Based On MCU K60

On the basis of the "Freescale" Cup National Smart Car Competition, this paperdesigned and implementation of tracing intelligent car which based on infraredphotoelectric sensor. The design and development of the system based on FreesCaleK60series MCU chip, which constitute of power supply module, DC motor drivecontrol module, steering control module, the information of the road detection module,speed detection module and the wireless communication module.The basis of implementation the control of intelligent car is hardware circuit.Therefore, this paper firstly designed the hardware circuit part, and then utilized theIAR software as the development platform to write the main program of system, thesubroutine of motor and servo control, the subroutine of speed detection and wirelesscommunication subroutine. This paper tried to improve the algorithm on the basis ofthe traditional control algorithms, and then compared their performances andcharacteristics in MATLAB simulating, and finally used C program to test andanalysis practically, which validated the correctness of the results of simulation. In theaspect of direction control system design, the fuzzy control algorithm had beenadopted on the basis of the method of practical experience control.This algorithmutilized tracking path deviation and steering gear modifier to judge synthetically.According to this to realize the intelligent car has corresponding control rules tocontrol the turning angle of steering gear in various conditions, which expected toeliminate deviation. It had been improved on the aspects of steady state performance,speed ability, and the adaptability under fuzzy algorithm through the simulationexperiment and program loading experiment. In the aspect of speed system design,this paper researched on comparing the incremental PID control and fuzzy self-tuningPID control, which certified the superiority of fuzzy self-tuning PID control in speedcontrol through the last simulation and practical test. The last part of this dissertationis a brief summary and puts forward further improved suggestions.