| Traffic problems have become global issues which cannot be ignored with the speedingup of urbanization in our country and the popularity of cars. In order to solve the trafficproblems, many developed countries invest a lot of manpower and material resources toresearch of intelligent transportation system. Smart car is a preliminary simulation ofintelligent vehicle. This paper discussed the control method of motor and servo based onsmart car. In terms of motor control, in order to solve the problems that the conventional PIDcontrol is not ideal, an adaptive fuzzy PID controller is introduced which composed bycombining fuzzy control and PID control, and its parameters can be adjusted. In terms ofsteering gear control, in order to solve the oscillation problems of smart car system caused bychanging direction frequently, a differential forward PID controller is introduced. Itscharacteristic is that only the velocity and the steering gear deflection value get thedifferential, and the set value of direction does not. The Matlab simulation of algorithm formotor and steering gear mathematical model is implemented. The results show that thealgorithm of this paper is superior to the conventional PID, It exerts fast response speed, andrunning is stable and reliable. In order to realize the algorithm on DSP28335, the method ofpreprocessing of image and extract of black guide line is discussed. And then completed thesystem hardware and software has designed. Finally, the system has debugged. The resultshows that the designed car, which adopts DSP28335controller and CMOS camera detectionmethod, can complete tracing according to the orbit, and has the advantage of fast response,small steady-state error and high anti-interference ability. Base on this, we can design rescuerobot, dangerous environment inspection robot, and so on, and it has certain practical value. |
