【導(dǎo)讀】能賽車，在賽道上以最快速度完成賽程者為優(yōu)勝。計(jì)、賽車設(shè)計(jì)、進(jìn)行仿真和結(jié)果回放四個(gè)部分，然后根據(jù)這幾部分進(jìn)行軟件開(kāi)發(fā)，但在實(shí)際開(kāi)發(fā)中并沒(méi)有完成所有功能，只完成了其中智能車仿真系統(tǒng)的一部分，并對(duì)該部分的開(kāi)發(fā)過(guò)程進(jìn)行了詳細(xì)的分析。車輛在交通擁擠的市區(qū)行使駕駛?cè)藛T。動(dòng)，繁重的駕駛工作和駕駛?cè)藛T的疲勞是交通事故頻發(fā)的重要原因。生的又一重要原因。交通問(wèn)題已經(jīng)成為全球范圍令人困擾的嚴(yán)重問(wèn)題，因此，如。何提高交通安全性己經(jīng)成為急需解決的社會(huì)性問(wèn)題。道路偏離系統(tǒng)、疲勞檢測(cè)系。斷發(fā)展，使得人類的這一夢(mèng)想逐漸成為現(xiàn)實(shí)。2021年8月在清華大學(xué)舉辦的智能車大賽就是在這樣的背景下應(yīng)運(yùn)而生。順利完成比賽的不可避免的障礙。基于以上的問(wèn)題，為了能夠快速的驗(yàn)證智能車的設(shè)計(jì)方案，縮短其開(kāi)發(fā)周期，行過(guò)程分析，可以對(duì)控制算法進(jìn)行優(yōu)化。

　　

【正文】 ,許新權(quán) .改善我國(guó)道路交通安全狀況的措施 [J].道路交通安全 ,2021 6 9 : 1214. 武 長(zhǎng)順 .我國(guó)智能交通對(duì)比國(guó)外的發(fā)展及反思 [J].智能交通 ,2021: 2 11 : 7173. 王威 .HCS12 微控制器原理及應(yīng)用 [M].北京：北京航空航天大學(xué)出版社 ,2021,10 虛擬儀器工程平臺(tái) LabVIEW 介紹 .EDN 中國(guó) [EB/OL]. 73699,20211013. 王磊 ,[M].北京 :電子工業(yè)出版社 ,2021:6569. 金維香 .圖形化程序設(shè)計(jì) G 語(yǔ)言― LabVIEW 與虛擬儀器 [J].長(zhǎng)沙電力學(xué)院學(xué)報(bào) ,2021,17 1 :1417. LabVIEW User Manual. National Instruments Corporation, 2021. 畢試皓 .智能車建模和仿真軟件設(shè)計(jì) [D].西安理工大學(xué)碩士論文 ,2021. 董秀成 .控制算法的計(jì)算機(jī)仿真及比較研究 [J].電訊技術(shù) , 2021, 23 5 : 5256. 徐劍琴 ,林小峰 .控制過(guò)程實(shí)時(shí)仿真平臺(tái)的設(shè)計(jì)與實(shí)現(xiàn) [D].南寧 :廣西大學(xué) ,2021. 鮑占闊 ,楊玉珍 ,趙曉華等 .基于 VB,VC 的交通控制仿真軟件的設(shè)計(jì) [J].計(jì)算機(jī)仿真 ,2021,23 4 :253256. 吳旭光 ,王新民 ,楊惠珍等 .計(jì)算機(jī)仿真技術(shù) [M].西安 :西北工業(yè)大學(xué)出版2021:59. 金志強(qiáng) ,包啟亮 .一種基于 LabVIEW 的 PID 控制器設(shè)計(jì)的方法 [J].控制系統(tǒng)，2021 21 6 :12. 習(xí)趙軍 ,謝東 ,李昌禧 .基于 LabVIEW 的直流舵機(jī)性能測(cè)試系統(tǒng) [J].計(jì)算機(jī)應(yīng)用 2021 24 6 :6063. 李高升 ,周東明 ,何建國(guó) ,白洋 .LabVIEW中 DLL文件的創(chuàng)建及其應(yīng)用 [J].現(xiàn)代電子技術(shù) 2021,6 5 : 2425. Tjokro S,Shah S L. Adaptive PID Control. Proceeding of the 1985 American Control :15281534. Udo Kuln. Ein praxisnahe Einstellregel Fuer PIDRegler: Die TSummenRegel. Automatisier umgste chmische Praxis,1995,37 5 . Archana Shrotriya. Writing Win32 Dynamic Link Libraries DLLs and Calling Them from Note087,1999. 致謝 首先衷心感謝指導(dǎo)師李學(xué)慧老師，本論文是在她的悉心指導(dǎo)與關(guān)懷下完成的。在學(xué)習(xí)和論文的研究過(guò)程中，自始至終得到了她的悉心指導(dǎo)、鼓勵(lì)、關(guān)心和幫助。李老師平易近人的學(xué)者風(fēng)范和務(wù)實(shí)高效的工作作風(fēng)，無(wú)論在學(xué)術(shù)研究、實(shí)際工作，還是在為人處事中，都給我以深深的教益和啟迪在畢業(yè)設(shè)計(jì)期間，老師的諄諄教誨與無(wú)微不至的關(guān)懷使作者受益終生，不僅為今后從事科學(xué)研究工作培養(yǎng)了嚴(yán)謹(jǐn)、扎實(shí)、認(rèn)真的工作態(tài)度，而且還培養(yǎng)了樂(lè)觀上進(jìn)、積極進(jìn)取、團(tuán)結(jié)協(xié)作和頑強(qiáng)拼搏的工作 精神，在此要向老師表示最衷心的感謝和敬意 其次，要感謝機(jī)電學(xué)院車輛物流系韓以倫主任。在設(shè)計(jì)期間，主任經(jīng)常詢問(wèn)進(jìn)度，并為我們解決了許多實(shí)際問(wèn)題。 最后還要感謝我們團(tuán)隊(duì)中的每一個(gè)成員，以及李如利、韓桐楓、于振江、林貞亮等同門(mén)在本文寫(xiě)作期間的大力幫助 ! 附錄 A LabVIEW Based Instrument Current Transformer Calibrator Xin Ai Hal Bao . Song 1 North China Electric Power University, Beijing, China 107206 2 Brunel University. UK ABSTRACT The Virtual Instrument VI mainly refers to build all kinds of instruments by software such as LabVIEW, which likes a real instrument build in a puter. Its39。 main characteristics are flexibility, multifunctions, multiple uses for one PC puter, giving high performance, and is less costly. In this paper, the VI technology is applied to the test and measurement of instrument current transformer TA . By using the LabVIEW, the TA accuracy calibrator was developed. This virtual calibrator can automatically measure the accuracy of and can indicate the ratio error and phase error curves. The tests and calibration for the TA show that the virtual TA calibrator can be used in place of the traditional calibrator and is much better than the traditional one. Keywords： Instrument current transformer TA , TA calibrator, Virtual Instruments, LabVIEW. I. INTRODUCTION Since 1992 the VXIbus standard was established by the United States and LabVIEW was presented by the National Instruments co. Nl , the Virtual Instrument VI have lain the foundation for its mercial use. The main characteristic of Virtual Instrument is that it makes instruments by software. Most of the traditional instrument can be developed by VI. The VI is a real instrument made by the personal puter. The Instrument current transformer TA is widely used in all kinds of current measurement and it has the functions of protection, isolation and extending the measuring range. With the rapid development of puter measurement and control technology, and with the sequent emergence of current transformer and transducer, there is an increasing number of current transformers with high accuracy and low secondary current. The standard TA secondary current is usually 1A or 5A: some nonstandard TA secondary current may be 0 1A or lower. Although we have the technique to make this kind of calibrator by means of hardware such as single chip puter and electronic circuit, DSP and so on, it will cost too much money for these nostandard calibrator and will take too much time and the calibrator made by these hardware mill not be satisfactory in both function and practicality for designing all kinds of new TA. The calibrator that adopts VI technology not only can meet the requirements of the traditional one but also can satisfy customers with such advantages as multifunctions, convenience, and high ratio between performance and cost. The experiment results indicate that the virtual calibrator can provide excellent condition for TA measurement and design. The VI technology and personal puter must be widely used in the area of calibration on instrument transformer. Ⅱ . THE WORKING PRINCIPLE OF TA CALIBRATOR The error of TA includes ratio error and phase error. The measuring of the error of TA or the calibration of the accuracy of TA usually applies differential measuring method. The method needs a standard TA except the measured TA and a TA calibrator. There is the same turn ratio between the standard and measured T4 and the standard TA39。s accuracy should be 2 levels higher than the measured one. The calibrator function lies in forming parison circuits, measuring, and showing the error at all range. The parison circuit, also referred to the difference measuring principle circuit, is showed in Fig. 1. By measuring the voltage on I, and Rd, calculate the corresponding current. Then the calibrator can indicate the error. When a TA has the same turn ratio between the primary and secondary winding, the selfparison circuit could be used and is shown in . In the figures, TA0 and TAX are standard and TA being measured respectively. Np and Ns are primary and secondary winding turns. ip and io, id, i, are primary current secondary standard current, secondary error current, secondary current of TA being measured respectively. Ro and R,R, are secondary winding39。s resistance of standard TA, error current detecting resistance, burden resistance of TA being measured respectively. To and K, Tb. T, are voltage sampling points which can calculate the current In this paper, only voltage between K