The Research And Implementation Of Remote Closed-loop Control Of The Intelligent Vehicle Based On PID Control Algorithm

Intelligent vehicle is a kind of intelligent robot, in addition to research field,it also has played an irreplaceable role in the practical application, because it can benot affected by adverse external conditions, by security threats, and the operatingcost is low, the function is powerful and flexible, it can perform tasks in manyenvironment humans can not reach or live, also suitable for the national defense,security, many civil fields.Now there are many complex control algorithms for intelligent control of thecar, and most of them are running on the ARM board, but the restriction of ARMboard performance leading to many complicated algorithms cannot be used forintelligent control of the car, in order to solve this problem, this paper proposes amethod of putting control algorithm running on the host computer andcommunicate with intelligent car through the TCP/IP network protocol.In this paper of the research of PID control algorithm of the intelligentvehicle remote closed-loop control system based on TCP/IP networkcommunication protocol, the host computer communicate with intelligent car viaembedded intelligent laboratory wireless network environment, PC consoleprogram can set the target speed value of intelligent car, sending control signals tothe intelligent car ARM board through UDP packet transmission, and then the ARMboard resolves to the PWM pulse and transmit to the motor control module to drivemotor, the speed detection module using photoelectric sensor is responsible for thereal-time detection of intelligent vehicle speed, and send the value of speed to thePC console program through the TCP, the return value of the speed of time value isfed into PID control algorithm to calculate the value of speed that should be sent tothe ARM board, so as to realize the closed loop speed control of intelligent vehicle.In the hardware aspect, I use a PC in laboratory with a LINUX operatingsystem as the host computer, using ARM board based on ARM1176JZF-S kernel asthe control platform, which mainly control wireless devices and receiving, parsing and forwarding the PC control commands to the lower level motor control module,the speed control module has independent CAN controller, also integrates the CANtransceiver, electric-level conversion chip, etc. Therefore, the authors design thecircuit of the speed control module and complete the welding work of hardware.In terms of communication, the smart car use wireless network card toconnect to the Internet, although remote control range is limited, but the datatransmission speed is very ideal, which can meet the bandwidth requirements oflarge amount of data transmission in this paper, it can even transmit compress.The system hardware and system software uses the modular structure, thesystem reliability is high, the function of modules is clear, at the bottom of theintelligent vehicle using CAN bus for message transmission, and can beconveniently expanded according to the requirement of function. The main contentof this paper includes selection and design of the hardware system, writing systembetween PC and console software design, the design of intelligent vehicle PIDcontrol algorithm, and the realization of PC and intelligent car TCP/IPcommunication. Finally, the functionality of the system is tested.