【導(dǎo)讀】通過matlab的仿真分析表明,模糊-PID控制算法的性能比一般的PID控制更好。能小車的試驗(yàn)結(jié)果表明它會(huì)隨黑色的引導(dǎo)線快速并且穩(wěn)定的走完整個(gè)行程。近年來,許多國(guó)家正在研制無人駕駛的車輛技術(shù)。從而實(shí)現(xiàn)轉(zhuǎn)向完美特性的控制策略。并采用了比例控制。文獻(xiàn)[3]提出了一種有效、具有良好抗干擾性的、適應(yīng)性強(qiáng)的動(dòng)。態(tài)圖像處理算法。這種算法有效的解決了由環(huán)境光線變化以及軌道變化所引起的小車。文獻(xiàn)[4]利用非線性最優(yōu)化重建了軌道和攝像調(diào)整間的空間關(guān)系，從。他們都缺少以小車運(yùn)動(dòng)和大量實(shí)驗(yàn)為基礎(chǔ)的小車的特性。PID算法的有效性。應(yīng)該有由道路檢測(cè)，轉(zhuǎn)角檢測(cè)，速度檢測(cè)等構(gòu)成的智能控制單元。適應(yīng)于不同的對(duì)象，或者同一個(gè)對(duì)象的不同狀態(tài)。為誤差及誤差變化量，輸出為參數(shù)Kp、Ki、Kd。達(dá)18個(gè)I/O端口具有中斷能力允許從停止或等待狀態(tài)被喚醒。

　　

【正文】 ions ? Two Serial Communication Interfaces (SCI) — Fullduplex or single wire operation — 13bit baud rate selection — Programmable character length — Programmable polarity for transmitter and receiver Break detect and transmit collision detect ? OnChip Voltage Regulator — Two parallel, linear voltage regulators with bandgap reference — Lowvoltage detect (LVD) with lowvoltage interrupt (LVI) — Poweron reset (POR) circuit — Lowvoltage reset (LVR) ? Input/Output Up to 91 generalpurpose input/output (I/O) pins — Configurable drive strength on all output pins ? Package Options — 112pin lowprofile quad flatpack (LQFP) — 80pin quad flatpack (QFP) — 64pin lowprofile quad flatpack (LQFP) ? Operating Conditions — Wide single Supply Voltage range V to V at full performance — 40MHz maximum CPU bus frequency — Ambient temperature range – — Temperature Options: – – – – – – HCS12 Features ? Is identical to the MC68HC12 and based on the MC68HC11 CPU ? Provides efficient memory access ? Provides memory needed to satisfy many applications 中 英文翻譯 ? Extends the HC11 instructions ? Has several new addressing modes added ? Accesses additional memories externally Here is an overview of the HCS12 CPU architecture. The HCS12 CPU is identical to the MC68HC12 and is referred to in most documents as CPU12. Another factor to consider is that CPU12 is upward patible with the MC68HC11 CPU. The MC68HC11 and the MC68HC12 will be referred to as the HC11 and HC12 respectively in this module. Like the HC12, the HCS12 CPU maps all registers and peripherals into a single linear address space, providing efficient memory access. Since the HCS12 family supports up to 1 mega byte of address space, a paging scheme has been implemented to access as many as 6416K page windows. This provides system designers with the memory needed to satisfy many applications. The HCS12 CPU instruction set extends the HC11 instructions for data movement, data manipulation, enhanced arithmetical operation, and branching and control logic. In addition, the HCS12 model adds several new addressing modes for a total of sixteen addressing modes. Although most of the HCS12 family members have onchip Flash and RAM, which are ideal for single chip solutions for many applications, the system designer can configure the device to access additional memories externally. More Features ? The HCS12 has an identical programmers model to M68HC11/M68HC12 – No new registers – No changes in interrupt stacking order – Muxed and nonmuxed external interfaces ? The HCS12 can reuse existing software source code. Note: timing loops change due to new clock frequency, Byte counts and instruction cycle times. ? The HCS12 has improved performance when using new instructions. ? The HCS12 reduces interrupt latency. ? The HCS12 increases math speed. ? The HCS12 increases performance. – Instruction queue data increases performance 中 英文翻譯 – Instructions execute faster while remaining deterministic References [1] WEI Yu Hu, SHI Chen Yu, JIANG Jian Zhao and CHANG Hua. Intelligent vehicle steering control based on vision[J]. Application of Electronic Technique. 2020(1). [2] ZHENG Jianli, HUANG Lijia, GE Pengfei, LIU Xiangfei. Autonomous Tracing in Intelligent Vehicle Based on CCD[J]. Journal of Donghua University(Natural Science).2020(6). [3] ZHANG Yunzhou, SHI Enyi, WU Chengdong, QIN Zhaobing. On the Navigation System Based on CCD for Smart Car[J]. Journal of Northeastern University(NaturalScience).2020(2). [4] Li Xu Zhang, Weigong. Measurement method of intelligent vehicle39。s lateral deviation error based on vision[J]. Journal of Southeast University(Natural Science Edition). 2020(1). [5]WANG Peng. Funny control and its application in shot concrete robot[J]. Qing dao: Shan dong University of Science and . [6] WANG Lei, WANG Weimin. Fuzzy Control Theory and Application. National Defense Industry Press. 1997:19 [7]WEI Xin. Design and Analyse of Control System in Electromechanical Actuation. Nanjing:Nanjing University ofSciense and Technology. 2020.