CN105551345A - Experimental device and method for dual-intelligent-vehicle communication and following teaching - Google Patents
Experimental device and method for dual-intelligent-vehicle communication and following teaching Download PDFInfo
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- CN105551345A CN105551345A CN201610117473.9A CN201610117473A CN105551345A CN 105551345 A CN105551345 A CN 105551345A CN 201610117473 A CN201610117473 A CN 201610117473A CN 105551345 A CN105551345 A CN 105551345A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/16—Control of vehicles or other craft
- G09B19/167—Control of land vehicles
Abstract
The invention discloses an experimental device and method for dual-intelligent-vehicle communication and following teaching. The experimental device comprises a front vehicle system installed on a front vehicle and a back vehicle system installed on a back vehicle. The front vehicle system and the back vehicle system each comprise a main control device, a power voltage supply device, a direct-current motor driving device, a steering control device, a wireless communication device, a liquid crystal display, a speed measuring device, a distance measuring device, a dial switch and a key device. The front vehicle system and the back vehicle system measure the initial vehicle distance between the front vehicle and the back vehicle through the distance measuring devices, and receive a set target speed and a set target steering angle, sent by a PC, of the front vehicle, the actual speed is controlled and adjusted in an incremental PID mode to be close to the set value, the actual steering angle is adjusted through the steering control devices to be close to the set value, and the teaching process of communication and following of the front vehicle and the back vehicle is achieved. By means of the experimental device and method, the good teaching effect is achieved on experiment teaching of the control-type major and the communication-engineering-type major of universities, and therefore students can vividly and visibly master professional knowledge.
Description
Technical field
The present invention relates to a kind of experiment teaching instrument field based on intelligent vehicle, be specifically related to a kind of realize the two workshop of intelligence communication and the following travelings, for the intelligence pair car communication of colleges and universities' control class, communication engineering class specialty experiment teaching and experiment device for teaching and experimental technique can be followed of two cars.
Background technology
At present, college experiment teaching device category is various, but experiment teaching instrument based on majority, only has minority to be the experimental apparatus controlled for intelligent vehicle bicycle, and for two workshops before and after intelligent vehicle communication and control rear car by front truck and realize the experiment teaching instrument that two cars follow and not yet occur.In teaching process, general colleges and universities adopt the form of software simulation to complete, and experimental result lacks dramatic, are unfavorable for that the understanding of student to control technology and the communication technology is grasped.
Patent publication No.: CN204623370U, a kind of fully automatic electric vehicle driving system intelligent communications device, controls wireless module and mobile phone wireless module and cell phone system model calling by wireless connections in being realized; Wherein cell phone system module comprises cellphone subscriber APP interface, mobile communication module and mobile phone wireless module.It achieves the communication between cellphone subscriber APP and fully automatic electric motor-car, but does not have the communication realizing two workshop.
Patent publication No.: CN103496368A, there is Automobile cooperative type self-adaptive adaptive cruise control system and the method for learning ability, wherein training set and test set generation module are used for generating according to the front truck obtained and this vehicle travelling state information the training set and test set that adapt, and motoring condition collection module and garage safe distance model choice go out the data accurately can expressing current vehicle condition and vehicle headway.It achieves rear car to a certain extent and follows traveling to the seizure of front truck motion state to what realize rear car, but it can not represent two car states vividly, can not effectively be applied in college teaching.
Summary of the invention
The present invention will solve the problem, the experimental provision proposing the two car communication of a kind of intelligent vehicle and follow, and concrete technical scheme is as follows:
The two car of intelligence is followed and communication experimental equipment, comprises the front truck system be arranged on front truck and the rear truck system be arranged in rear car, it is characterized in that:
Front truck system comprises main control equipment, power supply is for pressure device, DC electric machine drive apparatus, steering control device, radio communication device, liquid crystal display, speed measuring device, distance measuring equipment, toggle switch and key device and PC, main control equipment signaling interface and DC electric machine drive apparatus, steering control device, radio communication device, liquid crystal display, speed measuring device, distance measuring equipment, the signaling interface of toggle switch and key device is connected, main control equipment, radio communication device, speed measuring device, distance measuring equipment, toggle switch and key device, liquid crystal display, steering control device is connected to obtain voltage with power supply for pressure device respectively with the voltage input interface of DC electric machine drive apparatus, DC electric machine drive apparatus gear of output end engages with car body rear wheel gear, steering control device output terminal is connected with car body front wheel knuckle by pull bar, speed measuring device input end measure speed gears engages with car body rear wheel gear,
Timer is had, pulse-width modulator, pulse totalizer, timer interrupter in main control equipment;
Annexation between the structure of rear truck system and each parts is identical with above-mentioned front truck system, and the distance measuring equipment in front truck system suspends and is fitted on front truck car body rear end, and the distance measuring equipment in rear truck system suspends and is fitted on the steering wheel of rear car;
PC can be communicated with rear truck system with front truck system by radio communication device.
Further technical scheme:
Described power supply comprises battery, 5V Voltage stabilizing module, 3.3V Voltage stabilizing module, 6V Voltage stabilizing module, 12V Voltage stabilizing module, manometric module for pressure device, battery connects with the input interface of 5V Voltage stabilizing module, 6V Voltage stabilizing module, 5V Voltage stabilizing module output interface connects with the input interface of 3.3V Voltage stabilizing module, 12V Voltage stabilizing module, manometric module input interface is connected with battery, and power supply is connected with the voltage input interface of main control equipment, radio communication device, speed measuring device, distance measuring equipment, toggle switch and key device for the output interface of 5V Voltage stabilizing module of pressure device; Power supply is connected with the voltage input interface of liquid crystal display for the output interface of 3.3V Voltage stabilizing module of pressure device; Power supply is connected with the voltage input interface of steering control device for the output interface of 6V Voltage stabilizing module of pressure device; Power supply is connected with the voltage input interface of DC electric machine drive apparatus for the output interface of 12V Voltage stabilizing module of pressure device.
The two car of intelligence is followed and communication experiment method, and it is characterized in that, step is as follows:
Step one: front and back car initial ranging:
Distance measuring equipment cooperating in front truck system and rear truck system, the distance utilizing hyperacoustic transmission and receive between measurement two car, one of them pulse high level time representation ultrasound wave travel-time from front truck to rear car, the time of the pulse high level using the timer in main control equipment to record;
Initial distance computing formula between two cars:
Initial distance L
0=t × v
voice
Wherein t is the pulse high level time measured by main control equipment, v
voicebe the velocity of sound, get 340m/s
Step 2: the target of front truck system current target speed v and front truck system current time that front truck system obtains PC setting beats angle α:
PC sends signal to the radio communication device of front truck system, and before front truck system acquisition user sets on PC host computer, the target of truck system current target speed v and front truck system current time beats angle α;
Step 3: front truck system steering control device is to the control of rotational angle:
The target of truck system current time before receiving is beaten angle α through calculating the pulse width T of front truck system by front truck system
1and control steering control device rotation by the pulse-width modulator of main control equipment, the rotational angle α 1' of the steering control device of front truck system and the pulse width T of front truck system
1relation computing formula be:
Wherein T
1for the pulse width of front truck system, unit is ms; α
1' be the rotational angle of the steering control device of front truck system, the recurrence interval is 20ms;
Step 4: before front truck system is obtained by the speed measuring device in front truck system, truck system is at the actual speed v in n moment
1(n):
Catch pulse with the pulse totalizer of main control equipment and count, opening timing interrupter, the umber of pulse x within the period p that just can record Interruption
Front truck system is at the actual speed v in n moment
1(n) computing formula:
Wherein x is pulse number, and a is the number of teeth of speed measuring device input end measure speed gears, and d is front back wheels of vehicle diameter, and b is the front truck rear axle gear number of teeth, and c is that the umber of pulse produced is enclosed in speed measuring device rotation one, and p is the cycle of Interruption;
Step 5: by the actual speed v of front truck system from each moment 0 to n moment
1(0), v
1(1), v
1n () integration obtains front truck system from the distance S passed by 0 to n moment
1(n):
The actual speed of the front truck system that main control equipment calculates is discrete variable v
1(i), wherein v
1i (), for front truck system is in the actual speed in i moment, wherein the i moment is from any instant this time period in 0 moment to n moment, therefore integral formula is reduced to
namely only front truck just can need be obtained from the actual speed summation in each moment 0 to n moment the distance S that front truck system walks from front truck system 0 to n moment
1(n);
Step 6: by incremental timestamp, makes front truck system at the actual speed v in n+1 moment
1(n+1) close to predetermined front truck system current target speed v:
Because actual speed and target velocity always have deviation, use increment type PID speed to regulate the stability improving the speed of a motor vehicle, reduce the deviation of actual speed and target velocity, before speed measuring device obtains by the n moment, truck system is at the actual speed v in n moment
1n () and front truck system current target speed v carry out the adjustment of proportional component and integral element;
If n moment electric moter voltage u
nfor controlled quentity controlled variable, the increment of the controlled quentity controlled variable that increment type PID exports is △ u
n, then n-1 moment electric moter voltage is u
n-1, what increment type PID exported is the increment of controlled quentity controlled variable is △ u
n-1;
Therefore electric moter voltage should be u
n=u
n-1+ △ u
n
That increment type PID exports is the increment △ u of controlled quentity controlled variable
n=u
n-u
n-1=A (e
n-e
n-1)+Be
n+ C (e
n-2e
n-1+ e
n-2);
Front truck system current target speed v and front truck system are at the actual speed v in n moment
1n the difference of () is e
n=v-v
1(n), e
n-1=v-v
1(n-1), e
n-2=v-v
1(n-2) A, B, C are undetermined parameter;
Undetermined parameter A, the value of B, C by the following method:
First undetermined parameter B, C is set as 0, and undetermined parameter A is increased gradually from 0, truck system or rear truck system before constantly running, until front truck system or rear truck system just overshoot occur, undetermined parameter A is set to 60% to 80% when overshoot just occurs for front truck system or rear truck system;
Then parameter A is constant, undetermined parameter B is increased gradually from 0, truck system or rear truck system before constantly running, until front truck system or rear truck system just overshoot occur, undetermined parameter B is set to 60% to 80% when overshoot just occurs for front truck system or rear truck system;
Last undetermined parameter C is set to 0;
Step 7: front truck system is by radio communication device, and truck system current target speed v before sending to rear truck system, the target of front truck system current time beats the distance S that angle α and front truck system are walked from truck system before 0 to n moment
1(n):
The total data received from PC is comprised front truck system current target speed v by front truck system, and the target of front truck system current time beats the distance S that angle α and front truck system are walked from truck system before 0 to n moment
1n (), sends to rear truck system by the radio communication device in front truck system and rear truck system;
Rear car system acceptance beats to the target of front truck system current time the distance S that angle α and front truck system walk from truck system before 0 to n moment
1n, after (), the value that the target due to the front truck system different moment beats angle α is different, the value of not α in the same time preserved with the form of array, make α (n)=α;
The front truck system that wherein α (n) is beats angle in the target in n moment, and α (n) and S
1(n) one_to_one corresponding
Step 8: rear truck system is according to oneself position, and after adjustment, the target of truck system current time beats angle α
2
Rear car rate integrating obtains the rear car distance S that rear car is passed by the m moment
2(m)
By integral formula
obtain rear car distance S
2(m)
Front and back car initial distance L is recorded by step one
0, then measure the length X of rear vehicle body
2, therefore the initial distance of rear car is-(L
0+ X
2), rear car distance S
2-(L
0+ X
2) to beat angle to steering wheel between 0 be 0, rear car distance S
2the data sent according to front truck after >0 travel;
The front truck distance S that rear car system acceptance arrives
1with the rear car distance S that rear car calculates
2all discrete, so the rear car distance S obtained in m moment rear car system-computed
2m () may be receiving and preserve two adjacent distance S
1(n) and S
1(n+1), between, two targets of getting corresponding to two preserved distances are beaten after averaging in angle and are beaten angle α as the target of rear truck system current time by rear truck system
2;
Such as: m moment rear car systems axiol-ogy is S to the current distance of oneself
2(m), then the front truck distance S that received by step 7 of truck system
1interior closest to S
2(m) have two groups of data S
1(n), S
1(n+1), wherein, S
1n distance that () is walked from truck system before 0 to n moment for front truck system, S
1(n+1) be distance that front truck system is walked from truck system before 0 to n+1 moment
The distance S walked from truck system before 0 to n moment with front truck system
1n the angle of beating of () correspondence is that front truck system beats angle α (n) in the target in n moment;
The distance S walked from truck system before 0 to n+1 moment with front truck system
1(n+1) corresponding angle of beating is that front truck system beats angle α (n+1) in the target in n+1 moment;
Then, the target of truck system current time beats angle α
2meet following relation:
α
2＝α(n)(S
2(m)＝S
1(n))
α
2＝(α(n)+α(n+1))/2(S
1(n)<S
2(m)<S
1(n+1))
α
2＝α(n+1)(S
2(m)＝S
1(n+1))
Step 9: rear truck system beats angle α according to the target in rear truck system m moment
2control steering control device to realize turning to, according to the target velocity v in front truck system m moment and the rear truck system actual speed v in the m moment
2m () is by the actual speed v in PID regulable control intelligent vehicle m+1 moment
2(m+1);
After calculating truck system pulse width T
2and control to turn to by steering control device, the rotational angle α of the steering control device of rear truck system
2' with the pulse width T of rear truck system
2relation computing formula be:
Wherein T
2for positive pulse width (ms); α
2' be the rotational angle of the steering control device of rear truck system; Recurrence interval is 20ms
Catch pulse with the impulse meter of main control equipment afterwards and count, opening timing is interrupted, the umber of pulse x within the period p that just can record Interruption
Rear truck system is at the actual speed v in m moment
2(m) computing formula:
Wherein x is pulse number, and a is the number of teeth of speed measuring device input end measure speed gears, and d' is rear back wheels of vehicle diameter, and b' is the rear car rear axle gear number of teeth, and c is that the umber of pulse produced is enclosed in speed measuring device rotation one, and p is the cycle of Interruption;
Again through incremental timestamp:
Because actual speed and target velocity always have deviation, use increment type PID speed to regulate the stability improving the speed of a motor vehicle, reduce the deviation of actual speed and target velocity, the rear truck system obtained by speed measuring device in the m moment is at the actual speed v in m moment
2m () carries out the adjustment of proportional component and integral element with the target velocity v of front truck system current time;
If m moment electric moter voltage u
mfor controlled quentity controlled variable, the increment of the controlled quentity controlled variable that increment type PID exports is △ u
m, then m-1 moment electric moter voltage is u
m-1, what increment type PID exported is the increment of controlled quentity controlled variable is △ u
m-1;
Therefore electric moter voltage should be u
m=u
m-1+ △ u
m
That increment type PID exports is the increment △ u of controlled quentity controlled variable
m=u
m-u
m-1=A (e
m-e
m-1)+Be
m+ C (e
m-2e
m-1+ e
m-2);
The target velocity v of front truck system current time and rear truck system are at the actual speed v in m moment
2m the difference of () is e
m=v-v
2(m), e
m-1=v-v
2(m-1), e
m-2=v-v
2(m-2) A, B, C are undetermined parameter;
Undetermined parameter A, the value of B, C by the following method:
First undetermined parameter B, C is set as 0, and undetermined parameter A is increased gradually from 0, truck system or rear truck system before constantly running, until front truck system or rear truck system just overshoot occur, undetermined parameter A is set to 60% to 80% when overshoot just occurs for front truck system or rear truck system;
Then parameter A is constant, undetermined parameter B is increased gradually from 0, truck system or rear truck system before constantly running, until front truck system or rear truck system just overshoot occur, undetermined parameter B is set to 60% to 80% when overshoot just occurs for front truck system or rear truck system;
Last undetermined parameter C is set to 0;
Step 10: the radio communication device of rear truck system is the actual speed v of rear truck system in the m moment
2m () and rear truck system are at the distance S walked in m moment
2m () sends to PC and shows on PC.
Beneficial effect of the present invention is:
1., by PC operating system software, user can need according to actual conditions, experiment the target rotation angle and the target velocity that set front truck; User can understand the transport condition of the two car of intelligence visual in imagely simultaneously.
2., by the communication in PC radio communication device and intelligence pair workshop, can realize carrying out the debugging of being correlated with according to the wish of user.
3. by two inter-vehicle communication, can make front truck system that the parameter of self and situation are sent to rear truck system in time, make rear truck system realize the communication of the two car of intelligence by computing and follow.
4. the present invention is simple to operate, is easy to debugging, makes user be easy to grasp main control equipment principle of work, wireless device communication principle, vividly can show the result that intelligent vehicle controls intuitively, contribute to the learning interest improving student.
Accompanying drawing illustrates:
Fig. 1 is the two car communication of intelligence of the present invention and follows the front truck system of experiment device for teaching and each parts annexation schematic diagram of rear truck system;
Fig. 2 is the unitary physical structure schematic diagram of the two car communication of intelligence of the present invention and the front truck system of following experiment device for teaching;
Fig. 3 is the unitary physical structure schematic diagram of the two car communication of intelligence of the present invention and the rear truck system of following experiment device for teaching;
Fig. 4 is the two car communication of intelligence of the present invention and the FB(flow block) of following teaching and experiment method;
In figure: 1. main control equipment, 2. power supply is for pressure device, 3. DC electric machine drive apparatus, 4. steering control device, 5. radio communication device, 6. liquid crystal display, 7. speed measuring device, 8. distance measuring equipment, 9. toggle switch and key device, 10. battery.
Embodiment:
Front truck system comprises main control equipment 1, power supply is for pressure device 2, DC electric machine drive apparatus 3, steering control device 4, radio communication device 5, liquid crystal display 6, speed measuring device 7, distance measuring equipment 8, toggle switch and key device 9 and PC, main control equipment 1 signaling interface and DC electric machine drive apparatus 3, steering control device 4, radio communication device 5, liquid crystal display 6, speed measuring device 7, distance measuring equipment 8, the signaling interface of toggle switch and key device 9 is connected, main control equipment 1, radio communication device 5, speed measuring device 7, distance measuring equipment 8, toggle switch and key device 9, liquid crystal display 6, steering control device 4 is connected to obtain voltage for pressure device 2 with power supply with the voltage input interface of DC electric machine drive apparatus 3 respectively, DC electric machine drive apparatus 3 gear of output end engages with car body rear wheel gear, steering control device 4 output terminal is connected with car body front wheel knuckle by pull bar, speed measuring device 7 input end measure speed gears engages with car body rear wheel gear,
Timer is had, pulse-width modulator, pulse totalizer, timer interrupter in main control equipment 1;
Annexation between the structure of rear truck system and each parts is identical with above-mentioned front truck system, and the distance measuring equipment 8 in front truck system suspends and is fitted on front truck car body rear end, and the distance measuring equipment 8 in rear truck system suspends and is fitted on the steering wheel of rear car;
PC can be communicated with rear truck system with front truck system by radio communication device 5.
Described power supply comprises battery 10 for pressure device 2, 5V Voltage stabilizing module, 3.3V Voltage stabilizing module, 6V Voltage stabilizing module, 12V Voltage stabilizing module, manometric module, battery 10 and 5V Voltage stabilizing module, the input interface of 6V Voltage stabilizing module connects, 5V Voltage stabilizing module output interface and 3.3V Voltage stabilizing module, the input interface of 12V Voltage stabilizing module connects, manometric module input interface is connected with battery 10, power supply supplies output interface and the main control equipment 1 of the 5V Voltage stabilizing module of pressure device 2, radio communication device 5, speed measuring device 7, distance measuring equipment 8, the voltage input interface of toggle switch and key device 9 is connected, power supply is connected with the voltage input interface of liquid crystal display 6 for the output interface of 3.3V Voltage stabilizing module of pressure device 2, power supply is connected with the voltage input interface of steering control device 4 for the output interface of 6V Voltage stabilizing module of pressure device 2, power supply is connected with the voltage input interface of DC electric machine drive apparatus 3 for the output interface of 12V Voltage stabilizing module of pressure device 2.
The main chip that described power supply is applied for the 5V Voltage stabilizing module of pressure device 2 is LM2940 or TPS7350; The main chip of 3.3V Voltage stabilizing module application is AMS1117, TPS7333; The main chip of 6V Voltage stabilizing module application is LM2941 or LM2956; The main chip of 12V Voltage stabilizing module application is MC34063.
Described DC electric machine drive apparatus 3, comprises drive circuit module and direct current generator.
Drive circuit module, voltage input interface connects with the output interface of 12V Voltage stabilizing module, and signal input interface connects with main control equipment 1 pulse-width modulator interface, and output interface connects with direct current generator input interface.Drive circuit module, adopts H bridge 4mos pipe scheme, adopts two IR2104 drive scheme.
Direct current generator input interface connects with drive circuit module output interface, and gear of output end engages with intelligent vehicle car body rear wheel gear.
Described steering control device 4, application steering wheel realizes course changing control.
Steering wheel, voltage input interface connects with the output interface of 6V Voltage stabilizing module, and signal input interface connects with main control equipment 1 Peripheral Interface pulse-width modulator, and output terminal is connected with intelligent vehicle car body front wheel knuckle by pull bar.
Described radio communication device 5, voltage input interface connects with the output interface of 5V Voltage stabilizing module, and signal input interface connects with main control equipment 1 Peripheral Interface Asynchronous Serial Interface, and radio communication device 5 communicates with PC.
Described liquid crystal display 6, voltage input interface connects with the output interface of 3.3V Voltage stabilizing module, and signal input interface connects with main control equipment 1 Peripheral Interface I/O interface.
Described speed measuring device 7, adopts photoelectric encoder as speed measuring device 7.
Described distance measuring equipment 8, voltage input interface connects with the output interface of 5V Voltage stabilizing module, and signal output interface main control equipment 1 Peripheral Interface analog-to-digital conversion module is connected.
Described toggle switch and key device 9, voltage input interface connects with the output interface of 5V Voltage stabilizing module, and signal output interface main control equipment 1 Peripheral Interface I/O interface is connected.
The two car of described intelligence is followed and communication experiment method, and step is as follows:
Step one: front and back car initial ranging
Distance measuring equipment 8 cooperating in front truck system and rear truck system, the distance utilizing hyperacoustic transmission and receive between measurement two car, one of them pulse high level time representation ultrasound wave travel-time from front truck to rear car, the time of the pulse high level using the timer in main control equipment 1 to record;
Initial distance computing formula between two cars:
Initial distance L
0=t × v
voice
Wherein t is the pulse high level time measured by main control equipment 1, v
voicebe the velocity of sound, get 340m/s
Step 2: the target of front truck system current target speed v and front truck system current time that front truck system obtains PC setting beats angle α:
PC sends signal to the radio communication device 5 of front truck system, and before front truck system acquisition user sets on PC host computer, the target of truck system current target speed v and front truck system current time beats angle α;
Step 3: the control of front truck system steering control device 4 pairs of rotational angles
The target of truck system current time before receiving is beaten angle α through calculating the pulse width T of front truck system by front truck system
1and rotated by the pulse-width modulator control steering control device 4 of main control equipment 1, the rotational angle α of the steering control device 4 of front truck system
1' with the pulse width T of front truck system
1relation computing formula be:
Wherein T
1for the pulse width of front truck system, unit is ms; α
1' be the rotational angle of the steering control device 4 of front truck system, the recurrence interval is 20ms;
Step 4: front truck system obtains the actual speed v of front truck system in the n moment by the speed measuring device 7 in front truck system
1(n)
Catch pulse with the pulse totalizer of main control equipment 1 and count, opening timing interrupter, the umber of pulse x within the period p that just can record Interruption
Front truck system is at the actual speed v in n moment
1(n) computing formula:
Wherein x is pulse number, and a is the number of teeth of speed measuring device 7 input end measure speed gears, and d is front back wheels of vehicle diameter, and b is the front truck rear axle gear number of teeth, and c is that the umber of pulse produced is enclosed in speed measuring device rotation one, and p is the cycle of Interruption;
Step 5: by the actual speed v of front truck system from each moment 0 to n moment
1(0), v
1(1), v
1n () integration obtains front truck system from the distance S passed by 0 to n moment
1(n)
The actual speed of the front truck system that main control equipment 1 calculates is discrete variable v
1(i), wherein v
1i (), for front truck system is in the actual speed in i moment, wherein the i moment is from any instant this time period in 0 moment to n moment, therefore integral formula is reduced to
namely only front truck just can need be obtained from the actual speed summation in each moment 0 to n moment the distance S that front truck system walks from front truck system 0 to n moment
1(n);
Step 6: by incremental timestamp, makes front truck system at the actual speed v in n+1 moment
1(n+1) close to predetermined front truck system current target speed v;
Incremental timestamp:
Because actual speed and target velocity always have deviation, use increment type PID speed to regulate the stability improving the speed of a motor vehicle, reduce the deviation of actual speed and target velocity, before speed measuring device 7 obtains by the n moment, truck system is at the actual speed v in n moment
1n () and front truck system current target speed v carry out the adjustment of proportional component and integral element;
If n moment electric moter voltage u
nfor controlled quentity controlled variable, the increment of the controlled quentity controlled variable that increment type PID exports is △ u
n, then n-1 moment electric moter voltage is u
n-1, what increment type PID exported is the increment of controlled quentity controlled variable is △ u
n-1;
Therefore electric moter voltage should be u
n=u
n-1+ △ u
n
That increment type PID exports is the increment △ u of controlled quentity controlled variable
n=u
n-u
n-1=A (e
n-e
n-1)+Be
n+ C (e
n-2e
n-1+ e
n-2);
Front truck system current target speed v and front truck system are at the actual speed v in n moment
1n the difference of () is e
n=v-v
1(n), e
n-1=v-v
1(n-1), e
n-2=v-v
1(n-2) A, B, C are undetermined parameter;
Undetermined parameter A, the value of B, C by the following method:
First undetermined parameter B, C is set as 0, and undetermined parameter A is increased gradually from 0, truck system or rear truck system before constantly running, until front truck system or rear truck system just overshoot occur, undetermined parameter A is set to 60% to 80% when overshoot just occurs for front truck system or rear truck system;
Then parameter A is constant, undetermined parameter B is increased gradually from 0, truck system or rear truck system before constantly running, until front truck system or rear truck system just overshoot occur, undetermined parameter B is set to 60% to 80% when overshoot just occurs for front truck system or rear truck system;
Last undetermined parameter C is set to 0;
Step 7: front truck system is by radio communication device 5, and truck system current target speed v before sending to rear truck system, the target of front truck system current time beats the distance S that angle α and front truck system are walked from truck system before 0 to n moment
1(n):
The total data received from PC is comprised front truck system current target speed v by front truck system, and the target of front truck system current time beats the distance S that angle α and front truck system are walked from truck system before 0 to n moment
1n (), sends to rear truck system by the radio communication device 5 in front truck system and rear truck system;
Rear car system acceptance beats to the target of front truck system current time the distance S that angle α and front truck system walk from truck system before 0 to n moment
1n, after (), the value that the target due to the front truck system different moment beats angle α is different, the value of not α in the same time preserved with the form of array, make α (n)=α;
The front truck system that wherein α (n) is beats angle in the target in n moment, and α (n) and S
1(n) one_to_one corresponding
Step 8: rear truck system is according to oneself position, and after adjustment, the target of truck system current time beats angle α
2
Rear car rate integrating obtains the rear car distance S that rear car is passed by the m moment
2(m)
By integral formula
obtain rear car distance S
2(m)
Front and back car initial distance L is recorded by step one
0, then measure the length X of rear vehicle body
2, therefore the initial distance of rear car is-(L
0+ X
2), rear car distance S
2-(L
0+ X
2) to beat angle to steering wheel between 0 be 0, rear car distance S
2the data sent according to front truck after >0 travel;
The front truck distance S that rear car system acceptance arrives
1with the rear car distance S that rear car calculates
2all discrete, so the rear car distance S obtained in m moment rear car system-computed
2m () may be receiving and preserve two adjacent distance S
1(n) and S
1(n+1), between, two targets of getting corresponding to two preserved distances are beaten after averaging in angle and are beaten angle α as the target of rear truck system current time by rear truck system
2;
Such as: m moment rear car systems axiol-ogy is S to the current distance of oneself
2(m), then the front truck distance S that received by step 7 of truck system
1interior closest to S
2(m) have two groups of data S
1(n), S
1(n+1), wherein, S
1n distance that () is walked from truck system before 0 to n moment for front truck system, S
1(n+1) be distance that front truck system is walked from truck system before 0 to n+1 moment
The distance S walked from truck system before 0 to n moment with front truck system
1n the angle of beating of () correspondence is that front truck system beats angle α (n) in the target in n moment;
The distance S walked from truck system before 0 to n+1 moment with front truck system
1(n+1) corresponding angle of beating is that front truck system beats angle α (n+1) in the target in n+1 moment;
Then, the target of truck system current time beats angle α
2meet following relation:
α
2＝α(n)(S
2(m)＝S
1(n))
α
2＝(α(n)+α(n+1))/2(S
1(n)<S
2(m)<S
1(n+1))
α
2＝α(n+1)(S
2(m)＝S
1(n+1))
Step 9: rear truck system beats angle α according to the target in rear truck system m moment
2control steering control device 4 to realize turning to, according to the target velocity v in front truck system m moment and the rear truck system actual speed v in the m moment
2m () is by the actual speed v in PID regulable control intelligent vehicle m+1 moment
2(m+1);
After calculating truck system pulse width T
2and control to turn to by steering control device 4, the rotational angle α of the steering control device 4 of rear truck system
2' with the pulse width T of rear truck system
2relation computing formula be:
Wherein T
2for positive pulse width (ms); α
2' be the rotational angle of the steering control device 4 of rear truck system; Recurrence interval is 20ms
Catch pulse with the impulse meter of main control equipment 1 afterwards and count, opening timing is interrupted, the umber of pulse x within the period p that just can record Interruption
Rear truck system is at the actual speed v in m moment
2(m) computing formula:
Wherein x is pulse number, and a is the number of teeth of speed measuring device 7 input end measure speed gears, and d' is rear back wheels of vehicle diameter, and b' is the rear car rear axle gear number of teeth, and c is that the umber of pulse produced is enclosed in speed measuring device rotation one, and p is the cycle of Interruption;
Again through incremental timestamp:
Because actual speed and target velocity always have deviation, use increment type PID speed to regulate the stability improving the speed of a motor vehicle, reduce the deviation of actual speed and target velocity, the rear truck system obtained by speed measuring device 7 in the m moment is at the actual speed v in m moment
2m () carries out the adjustment of proportional component and integral element with the target velocity v of front truck system current time;
If m moment electric moter voltage u
mfor controlled quentity controlled variable, the increment of the controlled quentity controlled variable that increment type PID exports is △ u
m, then m-1 moment electric moter voltage is u
m-1, what increment type PID exported is the increment of controlled quentity controlled variable is △ u
m-1;
Therefore electric moter voltage should be u
m=u
m-1+ △ u
m
That increment type PID exports is the increment △ u of controlled quentity controlled variable
m=u
m-u
m-1=A (e
m-e
m-1)+Be
m+ C (e
m-2e
m-1+ e
m-2);
The target velocity v of front truck system current time and rear truck system are at the actual speed v in m moment
2m the difference of () is e
m=v-v
2(m), e
m-1=v-v
2(m-1), e
m-2=v-v
2(m-2) A, B, C are undetermined parameter;
Undetermined parameter A, the value of B, C by the following method:
First undetermined parameter B, C is set as 0, and undetermined parameter A is increased gradually from 0, truck system or rear truck system before constantly running, until front truck system or rear truck system just overshoot occur, undetermined parameter A is set to 60% to 80% when overshoot just occurs for front truck system or rear truck system;
Then parameter A is constant, undetermined parameter B is increased gradually from 0, truck system or rear truck system before constantly running, until front truck system or rear truck system just overshoot occur, undetermined parameter B is set to 60% to 80% when overshoot just occurs for front truck system or rear truck system;
Last undetermined parameter C is set to 0;
Step 10: the radio communication device 5 of rear truck system is the actual speed v of rear truck system in the m moment
2m () and rear truck system are at the distance S walked in m moment
2m () sends to PC and shows on PC.
Claims (3)
1. the two car of intelligence is followed and communication experimental equipment, comprises the front truck system be arranged on front truck and the rear truck system be arranged in rear car, it is characterized in that:
Front truck system comprises main control equipment (1), power supply is for pressure device (2), DC electric machine drive apparatus (3), steering control device (4), radio communication device (5), liquid crystal display (6), speed measuring device (7), distance measuring equipment (8), toggle switch and key device (9) and PC, main control equipment (1) signaling interface and DC electric machine drive apparatus (3), steering control device (4), radio communication device (5), liquid crystal display (6), speed measuring device (7), distance measuring equipment (8), the signaling interface of toggle switch and key device (9) is connected, main control equipment (1), radio communication device (5), speed measuring device (7), distance measuring equipment (8), toggle switch and key device (9), liquid crystal display (6), steering control device (4) is connected to obtain voltage with power supply for pressure device (2) respectively with the voltage input interface of DC electric machine drive apparatus (3), DC electric machine drive apparatus (3) gear of output end engages with car body rear wheel gear, steering control device (4) output terminal is connected with car body front wheel knuckle by pull bar, and speed measuring device (7) input end measure speed gears engages with car body rear wheel gear,
Main control equipment has timer, pulse-width modulator, pulse totalizer, timer interrupter in (1);
Annexation between the structure of rear truck system and each parts is identical with above-mentioned front truck system, distance measuring equipment (8) in front truck system suspends and is fitted on front truck car body rear end, and the distance measuring equipment (8) in rear truck system suspends and is fitted on the steering wheel of rear car;
PC can be communicated with rear truck system with front truck system by radio communication device (5).
2. the two car of intelligence according to claim 1 is followed and communication experimental equipment, it is characterized in that: described power supply comprises battery (10) for pressure device (2), 5V Voltage stabilizing module, 3.3V Voltage stabilizing module, 6V Voltage stabilizing module, 12V Voltage stabilizing module, manometric module, battery (10) and 5V Voltage stabilizing module, the input interface of 6V Voltage stabilizing module connects, 5V Voltage stabilizing module output interface and 3.3V Voltage stabilizing module, the input interface of 12V Voltage stabilizing module connects, manometric module input interface is connected with battery (10), power supply supplies output interface and the main control equipment (1) of the 5V Voltage stabilizing module of pressure device (2), radio communication device (5), speed measuring device (7), distance measuring equipment (8), the voltage input interface of toggle switch and key device (9) is connected, power supply is connected with the voltage input interface of liquid crystal display (6) for the output interface of the 3.3V Voltage stabilizing module of pressure device (2), power supply is connected with the voltage input interface of steering control device (4) for the output interface of the 6V Voltage stabilizing module of pressure device (2), power supply is connected with the voltage input interface of DC electric machine drive apparatus (3) for the output interface of the 12V Voltage stabilizing module of pressure device (2).
3. the two car of intelligence is followed and communication experiment method, and it is characterized in that, step is as follows:
Step one: front and back car initial ranging:
Distance measuring equipment (8) cooperating in front truck system and rear truck system, the distance utilizing hyperacoustic transmission and receive between measurement two car, one of them pulse high level time representation ultrasound wave travel-time from front truck to rear car, the time of the pulse high level using the timer in main control equipment (1) to record;
Initial distance computing formula between two cars:
Initial distance L
0=t × v
voice
Wherein t is the pulse high level time measured by main control equipment (1), v
voicebe the velocity of sound, get 340m/s
Step 2: the target of front truck system current target speed v and front truck system current time that front truck system obtains PC setting beats angle α:
PC sends signal to the radio communication device (5) of front truck system, and before front truck system acquisition user sets on PC host computer, the target of truck system current target speed v and front truck system current time beats angle α;
Step 3: front truck system steering control device (4) is to the control of rotational angle:
The target of truck system current time before receiving is beaten angle α through calculating the pulse width T of front truck system by front truck system
1and control steering control device (4) rotation by the pulse-width modulator of main control equipment (1), the rotational angle α of the steering control device (4) of front truck system
1' with the pulse width T of front truck system
1relation computing formula be:
Wherein T
1for the pulse width of front truck system, unit is ms; α
1' be the rotational angle of the steering control device (4) of front truck system, the recurrence interval is 20ms;
Step 4: before front truck system is obtained by the speed measuring device (7) in front truck system, truck system is at the actual speed v in n moment
1(n):
Catch pulse with the pulse totalizer of main control equipment (1) and count, opening timing interrupter, the umber of pulse x within the period p that just can record Interruption
Front truck system is at the actual speed v in n moment
1(n) computing formula:
Wherein x is pulse number, and a is the number of teeth of speed measuring device (7) input end measure speed gears, and d is front back wheels of vehicle diameter, and b is the front truck rear axle gear number of teeth, and c is that the umber of pulse produced is enclosed in speed measuring device rotation one, and p is the cycle of Interruption;
Step 5: by the actual speed v of front truck system from each moment 0 to n moment
1(0), v
1(1), v
1n () integration obtains front truck system from the distance S passed by 0 to n moment
1(n):
The actual speed of the front truck system that main control equipment (1) calculates is discrete variable v
1(i), wherein v
1i (), for front truck system is in the actual speed in i moment, wherein the i moment is from any instant this time period in 0 moment to n moment, therefore integral formula is reduced to
namely only front truck just can need be obtained from the actual speed summation in each moment 0 to n moment the distance S that front truck system walks from front truck system 0 to n moment
1(n);
Step 6: by incremental timestamp, makes front truck system at the actual speed v in n+1 moment
1(n+1) close to predetermined front truck system current target speed v:
Because actual speed and target velocity always have deviation, use increment type PID speed to regulate the stability improving the speed of a motor vehicle, reduce the deviation of actual speed and target velocity, the front truck system obtained by speed measuring device (7) in the n moment is at the actual speed v in n moment
1n () and front truck system current target speed v carry out the adjustment of proportional component and integral element;
If n moment electric moter voltage u
nfor controlled quentity controlled variable, the increment of the controlled quentity controlled variable that increment type PID exports is △ u
n, then n-1 moment electric moter voltage is u
n-1, what increment type PID exported is the increment of controlled quentity controlled variable is △ u
n-1;
Therefore electric moter voltage should be u
n=u
n-1+ △ u
n
That increment type PID exports is the increment △ u of controlled quentity controlled variable
n=u
n-u
n-1=A (e
n-e
n-1)+Be
n+ C (e
n-2e
n-1+ e
n-2);
Front truck system current target speed v and front truck system are at the actual speed v in n moment
1n the difference of () is e
n=v-v
1(n), e
n-1=v-v
1(n-1), e
n-2=v-v
1(n-2) A, B, C are undetermined parameter;
Undetermined parameter A, the value of B, C by the following method:
First undetermined parameter B, C is set as 0, and undetermined parameter A is increased gradually from 0, truck system or rear truck system before constantly running, until front truck system or rear truck system just overshoot occur, undetermined parameter A is set to 60% to 80% when overshoot just occurs for front truck system or rear truck system;
Then parameter A is constant, undetermined parameter B is increased gradually from 0, truck system or rear truck system before constantly running, until front truck system or rear truck system just overshoot occur, undetermined parameter B is set to 60% to 80% when overshoot just occurs for front truck system or rear truck system;
Last undetermined parameter C is set to 0;
Step 7: front truck system is by radio communication device (5), and truck system current target speed v before sending to rear truck system, the target of front truck system current time beats the distance S that angle α and front truck system are walked from truck system before 0 to n moment
1(n):
The total data received from PC is comprised front truck system current target speed v by front truck system, and the target of front truck system current time beats the distance S that angle α and front truck system are walked from truck system before 0 to n moment
1n (), sends to rear truck system by the radio communication device (5) in front truck system and rear truck system;
Rear car system acceptance beats to the target of front truck system current time the distance S that angle α and front truck system walk from truck system before 0 to n moment
1n, after (), the value that the target due to the front truck system different moment beats angle α is different, the value of not α in the same time preserved with the form of array, make α (n)=α;
The front truck system that wherein α (n) is beats angle in the target in n moment, and α (n) and S
1(n) one_to_one corresponding
Step 8: rear truck system is according to oneself position, and after adjustment, the target of truck system current time beats angle α
2
Rear car rate integrating obtains the rear car distance S that rear car is passed by the m moment
2(m)
By integral formula
obtain rear car distance S
2(m)
Front and back car initial distance L is recorded by step one
0, then measure the length X of rear vehicle body
2, therefore the initial distance of rear car is-(L
0+ X
2), rear car distance S
2-(L
0+ X
2) to beat angle to steering wheel between 0 be 0, rear car distance S
2the data sent according to front truck after >0 travel;
The front truck distance S that rear car system acceptance arrives
1with the rear car distance S that rear car calculates
2all discrete, so the rear car distance S obtained in m moment rear car system-computed
2m () may be receiving and preserve two adjacent distance S
1(n) and S
1(n+1), between, two targets of getting corresponding to two preserved distances are beaten after averaging in angle and are beaten angle α as the target of rear truck system current time by rear truck system
2;
Such as: m moment rear car systems axiol-ogy is S to the current distance of oneself
2(m), then the front truck distance S that received by step 7 of truck system
1interior closest to S
2(m) have two groups of data S
1(n), S
1(n+1), wherein, S
1n distance that () is walked from truck system before 0 to n moment for front truck system, S
1(n+1) be distance that front truck system is walked from truck system before 0 to n+1 moment
The distance S walked from truck system before 0 to n moment with front truck system
1n the angle of beating of () correspondence is that front truck system beats angle α (n) in the target in n moment;
The distance S walked from truck system before 0 to n+1 moment with front truck system
1(n+1) corresponding angle of beating is that front truck system beats angle α (n+1) in the target in n+1 moment;
Then, the target of truck system current time beats angle α
2meet following relation:
α
2＝α(n)(S
2(m)＝S
1(n))
α
2＝(α(n)+α(n+1))/2(S
1(n)<S
2(m)<S
1(n+1))
α
2＝α(n+1)(S
2(m)＝S
1(n+1))
Step 9: rear truck system beats angle α according to the target in rear truck system m moment
2control steering control device (4) to realize turning to, according to the target velocity v in front truck system m moment and the rear truck system actual speed v in the m moment
2m () is by the actual speed v in PID regulable control intelligent vehicle m+1 moment
2(m+1);
After calculating truck system pulse width T
2and control to turn to by steering control device (4), the rotational angle α of the steering control device (4) of rear truck system
2' with the pulse width T of rear truck system
2relation computing formula be:
Wherein T
2for positive pulse width (ms); α
2' be the rotational angle of the steering control device (4) of rear truck system; Recurrence interval is 20ms
Use the impulse meter of main control equipment (1) catch pulse and count afterwards, opening timing is interrupted, the umber of pulse x within the period p that just can record Interruption
Rear truck system is at the actual speed v in m moment
2(m) computing formula:
Wherein x is pulse number, and a is the number of teeth of speed measuring device (7) input end measure speed gears, and d' is rear back wheels of vehicle diameter, and b' is the rear car rear axle gear number of teeth, and c is that the umber of pulse produced is enclosed in speed measuring device rotation one, and p is the cycle of Interruption;
Again through incremental timestamp:
Because actual speed and target velocity always have deviation, use increment type PID speed to regulate the stability improving the speed of a motor vehicle, reduce the deviation of actual speed and target velocity, the rear truck system obtained by speed measuring device (7) in the m moment is at the actual speed v in m moment
2m () carries out the adjustment of proportional component and integral element with the target velocity v of front truck system current time;
If m moment electric moter voltage u
mfor controlled quentity controlled variable, the increment of the controlled quentity controlled variable that increment type PID exports is △ u
m, then m-1 moment electric moter voltage is u
m-1, what increment type PID exported is the increment of controlled quentity controlled variable is △ u
m-1;
Therefore electric moter voltage should be u
m=u
m-1+ △ u
m
That increment type PID exports is the increment △ u of controlled quentity controlled variable
m=u
m-u
m-1=A (e
m-e
m-1)+Be
m+ C (e
m-2e
m-1+ e
m-2);
The target velocity v of front truck system current time and rear truck system are at the actual speed v in m moment
2m the difference of () is e
m=v-v
2(m), e
m-1=v-v
2(m-1), e
m-2=v-v
2(m-2) A, B, C are undetermined parameter;
Undetermined parameter A, the value of B, C by the following method:
First undetermined parameter B, C is set as 0, and undetermined parameter A is increased gradually from 0, truck system or rear truck system before constantly running, until front truck system or rear truck system just overshoot occur, undetermined parameter A is set to 60% to 80% when overshoot just occurs for front truck system or rear truck system;
Then parameter A is constant, undetermined parameter B is increased gradually from 0, truck system or rear truck system before constantly running, until front truck system or rear truck system just overshoot occur, undetermined parameter B is set to 60% to 80% when overshoot just occurs for front truck system or rear truck system;
Last undetermined parameter C is set to 0;
Step 10: the radio communication device (5) of rear truck system is the actual speed v of rear truck system in the m moment
2m () and rear truck system are at the distance S walked in m moment
2m () sends to PC and shows on PC.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111595595A (en) * | 2020-06-03 | 2020-08-28 | 上海机动车检测认证技术研究中心有限公司 | Intelligent driving test system |
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| CN204595513U (en) * | 2015-03-20 | 2015-08-26 | 重庆交通大学 | Based on the Intelligent transport fleet with theory of speeding |
| CN205722518U (en) * | 2016-03-02 | 2016-11-23 | 吉林大学 | The double car communication of intelligence and follow experiment device for teaching |
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2016
- 2016-03-02 CN CN201610117473.9A patent/CN105551345B/en not_active Expired - Fee Related
Patent Citations (7)
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| CN1746801A (en) * | 2005-07-18 | 2006-03-15 | 李胜强 | Automatic driving system of vehicle |
| CN103129556A (en) * | 2011-11-22 | 2013-06-05 | 罗伯特·博世有限公司 | Driving assistance system |
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