CN205722518U - The double car communication of intelligence and follow experiment device for teaching - Google Patents
The double car communication of intelligence and follow experiment device for teaching Download PDFInfo
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- CN205722518U CN205722518U CN201620158504.0U CN201620158504U CN205722518U CN 205722518 U CN205722518 U CN 205722518U CN 201620158504 U CN201620158504 U CN 201620158504U CN 205722518 U CN205722518 U CN 205722518U
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Abstract
The utility model discloses the double car communication of a kind of intelligence and follow experiment device for teaching and method, this device includes being arranged on the front truck system of front truck and is arranged on the rear car system of rear car, front truck system and rear car system all include main control device, power supply is for pressure device, DC electric machine drive apparatus, steering control device, radio communication device, liquid crystal display, speed measuring device, range unit, toggle switch and key device, front and back car system measures the initial spacing of before and after's car by range unit, front and back car system receives the target velocity of the front truck setting that PC is sent by radio communication device and target beats angle, adjust actual speed by incremental timestamp and beat angle with close to setting value by steering control device adjustment reality, the communication of car and the teaching process followed before and after realization；These apparatus and method, make colleges and universities' control class, communication engineering class specialty experiment teaching obtain good teaching efficiency, make student vividly can grasp professional knowledge intuitively.
Description
Technical field
The utility model relates to a kind of experiment teaching instrument field based on intelligent vehicle, is specifically related to a kind of realization intelligence double
The communication in workshop and two cars follow traveling, be available for colleges and universities' control class, intelligence that communication engineering class specialty experiment teaching uses double
Car communication and follow experiment device for teaching and experimental technique.
Background technology
At present, college experiment teaching device category is various, but experiment teaching instrument based on majority, only minority for for
Intelligent vehicle bicycle control laboratory apparatus, and for before and after intelligent vehicle two workshops communication and by front truck control rear car realize two
The experiment teaching instrument that car is followed not yet occurs.In teaching process, general colleges and universities use the form of software simulation to complete, experiment
Result lacks dramatic, is unfavorable for that the understanding of control technology and the communication technology is grasped by student.
Patent publication No.: CN204623370U, a kind of fully automatic electric vehicle driving system intelligent communications device, by nothing
Line connects control wireless module and mobile phone wireless module in realization and is connected with cell phone system module；Wherein cell phone system module includes hand
Machine user APP interface, mobile communication module and mobile phone wireless module.Its achieve cellphone subscriber APP and fully automatic electric motor-car it
Between communication, but be not carried out the communication in double workshop.
Patent publication No.: CN103496368A, have learning ability Automobile cooperative type self-adaptive adaptive cruise control system and
Method, wherein training set and test set generation module are for adapting with the generation of this vehicle travelling state information according to the front truck obtaining
Training set and test set, motoring condition collection module and garage safe distance module select can accurately express current
Vehicle-state and the data of vehicle headway.It achieves after the seizure to front truck motion state for the rear car realizes to a certain extent
Car follow traveling, but it can not represent two car states vividly, it is impossible to is effectively applied in college teaching.
Utility model content
The utility model the problems referred to above to be solved, propose the double car communication of a kind of intelligent vehicle and the experimental provision followed, specifically
Technical scheme is as follows:
The double car of intelligence is followed and communication experimental equipment, including the front truck system being arranged on front truck and being arranged in rear car
Rear car system, it is characterised in that:
Front truck system includes main control device, power supply for pressure device, DC electric machine drive apparatus, steering control device, wireless
Communicator, liquid crystal display, speed measuring device, range unit, toggle switch and key device and PC, main control device signaling interface with
DC electric machine drive apparatus, steering control device, radio communication device, liquid crystal display, speed measuring device, range unit, toggle switch
And the signaling interface of key device is connected, main control device, radio communication device, speed measuring device, range unit, toggle switch and press
The voltage input interface of key apparatus, liquid crystal display, steering control device and DC electric machine drive apparatus supplies pressure device with power supply respectively
Connecting to obtain voltage, DC electric machine drive apparatus gear of output end engages with car body rear wheel gear, and steering control device exports
End is connected with car body front wheel knuckle by pull bar, and speed measuring device input measure speed gears engages with car body rear wheel gear；
Main control device has timer, pulse-width modulator, pulse accumulator, timer interrupter；
Annexation between the structure of rear car system and each parts is identical with above-mentioned front truck system, in front truck system
Range unit suspends and is fitted on front truck body rear end, and the range unit in rear car system suspends and is fitted in the steering wheel of rear car
On；
PC can be communicated with front truck system and rear car system by radio communication device.
Further technical scheme:
Described power supply includes battery, 5V Voltage stabilizing module, 3.3V Voltage stabilizing module, 6V Voltage stabilizing module, 12V voltage stabilizing mould for pressure device
Block, manometric module, battery connects with the input interface of 5V Voltage stabilizing module, 6V Voltage stabilizing module, 5V Voltage stabilizing module output interface with
3.3V Voltage stabilizing module, the input interface of 12V Voltage stabilizing module connect, and manometric module input interface is connected with battery, and power supply is for press-fiting
The output interface of the 5V Voltage stabilizing module put and main control device, radio communication device, speed measuring device, range unit, toggle switch and
The voltage input interface of key device is connected；Power supply supplies the output interface of the 3.3V Voltage stabilizing module of pressure device and the voltage of liquid crystal display
Input interface is connected；Power supply supplies the output interface of the 6V Voltage stabilizing module of pressure device and the voltage input interface phase of steering control device
Even；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 double car of intelligence is followed and communication experiment method, it is characterised in that step is as follows:
Step one: car initial ranging front and back:
Range unit cooperating in front truck system and rear car system, utilizes transmission and reception measurement two cars of ultrasonic wave
Between distance, one of them pulse high level time represents the propagation time from front truck to rear car for the ultrasonic wave, uses master control to set
The time of the pulse high level that the timer in Bei records；
Initial distance computing formula between two cars:
Initial distance L0=t × vvoice
Wherein t is the pulse high level time measured by main control device, vvoiceIt is the velocity of sound, take 340m/s
Step 2: front truck system current target speed v and front truck system that front truck system acquisition PC sets are current
The target in moment beats angle α:
PC sends signal to the radio communication device of front truck system, and front truck system obtains user on PC host computer
The front truck system current target speed v setting and the target of front truck system current time beat angle α；
Step 3: the control to rotational angle for the front truck system steering control device:
The target of the front truck system current time receiving is beaten angle α through being calculated the arteries and veins of front truck system by front truck system
Rush width T1And rotated by the pulse-width modulator control steering control device of main control device, the course changing control of front truck system
The rotational angle α of device1' with pulse width T of front truck system1Relation computing formula be:
Wherein T1For the pulse width of front truck system, unit is ms；α1' for the rotation of steering control device of front truck system
Angle, the pulse period is 20ms；
Step 4: front truck system obtains the actual speed in the n moment for the front truck system by the speed measuring device in front truck system
v1(n):
Catch pulse with the pulse accumulator of main control device and count, opening timing relay, it is possible to record timing
Umber of pulse x within period p interrupted
Front truck system is in actual speed v in n moment1(n) computing formula:
Wherein x is pulse number, and a is the number of teeth of speed measuring device input measure speed gears, and d is front back wheels of vehicle diameter, before b is
The car rear axle gear number of teeth, c is that speed measuring device rotates umber of pulse produced by a circle, and p is the cycle of Interruption；
Step 5: by actual speed v in front truck system each moment the moment from 0 to n1(0), v1
(1), v1N () integration obtains distance S that front truck system is passed by the moment from 0 to n1(n):
The actual speed of the front truck system that main control device is calculated is discrete variable v1(i), wherein v1I () is front truck system
System is in the actual speed in i moment, and wherein the i moment is any instant from this time period in 0 moment to n moment, therefore integration is public
Formula is reduced toI.e. only the actual speed summation in front truck each moment the moment from 0 to n just can need to be obtained
Front truck system distance S that the moment, front truck system is walked from 0 to n1(n)；
Step 6: by incremental timestamp, makes front truck system in actual speed v in n+1 moment1(n+1) close predetermined
Front truck system current target speed v:
Owing to actual speed and target velocity always have deviation, the regulation of increment type PID speed is used to improve the stability of speed,
Reducing the deviation of actual speed and target velocity, the front truck system obtaining speed measuring device in the n moment is in the actual speed in n moment
v1N () and front truck system current target speed v carry out the adjustment of proportional component and integral element；
If n is moment electric moter voltage unFor controlled quentity controlled variable, the increment of the controlled quentity controlled variable of increment type PID output is Δ un, then the n-1 moment
Electric moter voltage is un-1, increment type PID output be the increment of controlled quentity controlled variable be Δ un-1；
Therefore electric moter voltage should be un=un-1+Δun
What increment type PID exported is increment Delta u of controlled quentity controlled variablen=un-un-1=A (en-en-1)+Ben+C(en-2en-1+
en-2)；
Front truck system current target speed v and front truck system are in actual speed v in n moment1N the difference of () is en=
v-v1(n), en-1=v-v1(n-1),en-2=v-v1(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 started to be gradually increased from 0, is constantly running front truck system
Or rear car system, until front truck system or rear car system just occur overshoot, undetermined parameter A is set to front truck system or rear car system
Just there is 60% to 80% during overshoot；
Then parameter A is constant, and undetermined parameter B is started to be gradually increased from 0, is constantly running front truck system or rear car system
System, until front truck system or rear car system just occur overshoot, undetermined parameter B is set to front truck system or rear car system just occurs
During overshoot 60% to 80%；
Last undetermined parameter C is set to 0；
Step 7: front truck system passes through radio communication device, sends front truck system current target speed to rear car system
Degree v, the target of front truck system current time beats angle α and front truck system distance S that the moment, front truck system is walked from 0 to n1
(n):
The total data receiving from PC is included front truck system current target speed v, front truck system by front truck system
The target of system current time beats angle α and front truck system distance S that the moment, front truck system is walked from 0 to n1N (), by front
Radio communication device in car system and rear car system is sent to rear car system；
Rear car system receive the target of front truck system current time beat angle α and front truck system from 0 to n front truck the moment
Distance S that system is walked1N, after (), the value that target in the same time does not beats angle α due to front truck system is different, will not in the same time
The value of α preserve with the form of array, make α (n)=α；
The target in the n moment for the front truck system that wherein α (n) is beats angle, and α (n) and S1(n) one_to_one corresponding
Step 8: rear car system beats angle α according to oneself position, the target adjusting rear car system current time2
Rear car rate integrating obtains rear car distance S that rear car is passed by the m moment2(m)
By integral formulaObtain rear car distance S2(m)
Step one is recorded before and after car initial distance L0, then measure length X of rear vehicle body2, the therefore initial distance of rear car
For-(L0+X2), rear car distance S2At-(L0+X2) to beat angle to steering wheel between 0 be 0, rear car distance S2> send according to front truck after 0
Data travel；
Front truck distance S that rear car system receives1With rear car calculated rear car distance S2It is all discrete, so at m
Rear car distance S that moment rear car system-computed obtains2M () is probably in two adjacent distances S receiving and preserving1(n) and S1
(n+1), between, rear car system beats after averaging in angle two targets taking corresponding to preserved two distance as rear car
The target of system current time beats angle α2；
For example: m moment rear car system detects that the current distance of oneself is S2(m), and rear car system is connect by step 7
Front truck distance S receiving1Interior closest to S2(m) have two groups of data S1(n)、S1(n+1), wherein, S1N () is that front truck system is from 0
The distance that front truck system is walked to the n moment, S1(n+1) by front truck system from 0 to n+1 the moment front truck system walked
Distance
With front truck system distance S that the moment, front truck system is walked from 0 to n1N () corresponding angle of beating is that front truck system exists
The target in n moment beats angle α (n)；
With front truck system distance S that the moment, front truck system is walked from 0 to n+11(n+1) corresponding angle of beating is front truck system
The target in the n+1 moment for the system beats angle α (n+1)；
Then the target of rear car system current time beats angle α2Meet following relation:
α2=α (n) (S2(m)=S1(n))
α2=(α (n)+α (n+1))/2 (S1(n)<S2(m)<S1(n+1))
α2=α (n+1) (S2(m)=S1(n+1))
Step 9: rear car system beats angle α according to the target in rear car system m moment2Control steering control device realizes turning to,
Target velocity v according to the front truck system m moment and rear car system are in actual speed v in m moment2M () is by PID regulation control intelligence
Actual speed v in energy car m+1 moment2(m+1)；
Through being calculated rear car system pulse width T2And turned to by steering control device control, rear car system
The rotational angle α of steering control device2' with pulse width T of rear car system2Relation computing formula be:
Wherein T2For positive pulse width (ms)；α2' for the rotational angle of steering control device of rear car system；Pulse period
For 20ms
Catching pulse with the pulse counter of main control device afterwards and counting, opening timing is interrupted, it is possible to it is fixed to record
When interrupt period p within umber of pulse x
Rear car system is in actual speed v in m moment2(m) computing formula:
Wherein x is pulse number, and a is the number of teeth of speed measuring device input measure speed gears, and d' is rear back wheels of vehicle diameter, and b' is
The rear car rear axle gear number of teeth, c is that speed measuring device rotates umber of pulse produced by a circle, and p is the cycle of Interruption；
Again through incremental timestamp:
Owing to actual speed and target velocity always have deviation, the regulation of increment type PID speed is used to improve the stability of speed,
Reducing the deviation of actual speed and target velocity, the rear car system obtaining speed measuring device in the m moment is in the actual speed in m moment
v2M target velocity v of () and front truck system current time carries out the adjustment of proportional component and integral element；
If m is moment electric moter voltage umFor controlled quentity controlled variable, the increment of the controlled quentity controlled variable of increment type PID output is Δ um, then the m-1 moment
Electric moter voltage is um-1, increment type PID output be the increment of controlled quentity controlled variable be Δ um-1；
Therefore electric moter voltage should be um=um-1+Δum
What increment type PID exported is increment Delta u of controlled quentity controlled variablem=um-um-1=A (em-em-1)+Bem+C(em-2em-1+
em-2)；
Target velocity v of front truck system current time and rear car system are in actual speed v in m moment2M the difference of () is em
=v-v2(m), em-1=v-v2(m-1),em-2=v-v2(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 started to be gradually increased from 0, is constantly running front truck system
Or rear car system, until front truck system or rear car system just occur overshoot, undetermined parameter A is set to front truck system or rear car system
Just there is 60% to 80% during overshoot；
Then parameter A is constant, and undetermined parameter B is started to be gradually increased from 0, is constantly running front truck system or rear car system
System, until front truck system or rear car system just occur overshoot, undetermined parameter B is set to front truck system or rear car system just occurs
During overshoot 60% to 80%；
Last undetermined parameter C is set to 0；
Step 10: the radio communication device of rear car system rear car system in actual speed v in m moment2(m) and rear car system
System is in distance S walked in m moment2M () is sent to PC and shows on PC.
The beneficial effects of the utility model are:
1. passing through PC operating system software, user can need to set the target of front truck according to actual conditions, experiment
Corner and target velocity；User can understand the transport condition of the double car of intelligence visual in imagely simultaneously.
2. the communication by the double workshop of PC radio communication device and intelligence, it is possible to achieve the wish according to user is carried out
Related debugging.
3., by double inter-vehicle communications, can make front truck system that self parameter and situation are timely transmitted to rear car system,
Make rear car system be processed by calculating realize the communication of the double car of intelligence and follow.
4. the utility model is simple to operate, it is easy to debugging, makes user be easy to grasp main control device operation principle, channel radio
T unit Principle of Communication, vividly can show the result that intelligent vehicle controls intuitively, be favorably improved the learning interest of student.
Brief description:
Fig. 1 is the double car communication of intelligence described in the utility model and the front truck system and the rear car system that follow experiment device for teaching
Each parts annexation schematic diagram of system；
Fig. 2 is the overall thing of the double car communication of intelligence described in the utility model and the front truck system following experiment device for teaching
Reason structural representation；
Fig. 3 is the overall thing of the double car communication of intelligence described in the utility model and the rear car system following experiment device for teaching
Reason structural representation；
Fig. 4 is the double car communication of intelligence described in the utility model and the FB(flow block) following teaching and experiment method；
In figure: 1. main control device, 2. power supply is for pressure device, 3. DC electric machine drive apparatus, 4. steering control device, 5. without
Line communicator, 6. liquid crystal display, 7. speed measuring device, 8. range unit, 9. toggle switch and key device, 10. battery.
Detailed description of the invention:
For pressure device the 2nd, DC electric machine drive apparatus the 3rd, steering control device the 4th, front truck system includes main control device the 1st, power supply
Radio communication device the 5th, liquid crystal display the 6th, speed measuring device the 7th, range unit the 8th, toggle switch and key device 9 and PC, main control device 1
The 7th, signaling interface and DC electric machine drive apparatus the 3rd, steering control device the 4th, radio communication device the 5th, liquid crystal display the 6th, speed measuring device are surveyed
Signaling interface away from device the 8th, toggle switch and key device 9 is connected, and main control device the 1st, radio communication device the 5th, speed measuring device is the 7th,
Range unit the 8th, toggle switch and the voltage of key device the 9th, liquid crystal display the 6th, steering control device 4 and DC electric machine drive apparatus 3
Input interface is connected to obtain voltage with power supply for pressure device 2 respectively, after DC electric machine drive apparatus 3 gear of output end and car body
Wheel gear engages, and steering control device 4 output is connected with car body front wheel knuckle by pull bar, and speed measuring device 7 input is surveyed
Speed gear engages with car body rear wheel gear；
Main control device 1 has timer, pulse-width modulator, pulse accumulator, timer interrupter；
Annexation between the structure of rear car system and each parts is identical with above-mentioned front truck system, in front truck system
Range unit 8 suspends and is fitted on front truck body rear end, and the range unit 8 in rear car system suspends and be fitted in the rudder of rear car
On machine；
PC can be communicated with front truck system and rear car system by radio communication device 5.
For pressure device 2, described power supply includes that battery the 10th, 5V Voltage stabilizing module, 3.3V Voltage stabilizing module, 6V Voltage stabilizing module, 12V are steady
Die block, manometric module, battery 10 connects with the input interface of 5V Voltage stabilizing module, 6V Voltage stabilizing module, and the output of 5V Voltage stabilizing module connects
Mouth connects with the input interface of 3.3V Voltage stabilizing module, 12V Voltage stabilizing module, and manometric module input interface is connected with battery 10, power supply
Supply the output interface of 5V Voltage stabilizing module of pressure device 2 with main control device the 1st, radio communication device the 5th, speed measuring device the 7th, range unit the 8th,
The voltage input interface of toggle switch and key device 9 is connected；Power supply for pressure device 2 3.3V Voltage stabilizing module output interface with
The voltage input interface of liquid crystal display 6 is connected；Power supply supplies output interface and the steering control device 4 of the 6V Voltage stabilizing module of pressure device 2
Voltage input interface be connected；Power supply supplies output interface and the DC electric machine drive apparatus 3 of the 12V Voltage stabilizing module of pressure device 2
Voltage input interface is connected.
Described power supply is LM2940 or TPS7350 for the main chip of the 5V Voltage stabilizing module application of pressure device 2；3.3V voltage stabilizing
The main chip of 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, including drive circuit module and direct current generator.
Drive circuit module, voltage input interface connects with the output interface of 12V Voltage stabilizing module, signal input interface and master
Control equipment 1 pulse-width modulator interface connects, and output interface connects with direct current generator input interface.Drive circuit module, adopts
By H bridge 4mos pipe scheme, use double IR2104 drive scheme.
Direct current generator input interface connects with drive circuit module output interface, gear of output end and intelligent vehicle car body trailing wheel
Gear engages.
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, outside signal input interface is with main control device 1
If interface pulse-width modulator connects, output 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, signal input interface
Connecting with main control device 1 Peripheral Interface Asynchronous Serial Interface, 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, signal input interface and master
Control equipment 1 Peripheral Interface I/O interface connects.
Described speed measuring device 7, uses photoelectric encoder as speed measuring device 7.
Described range unit 8, voltage input interface connects with the output interface of 5V Voltage stabilizing module, signal output interface master 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 is defeated
Outgoing interface main control device 1 Peripheral Interface I/O interface is connected.
The double car of described intelligence is followed and communication experiment method, and step is as follows:
Step one: car initial ranging front and back
Range unit 8 cooperating in front truck system and rear car system, utilizes transmission and the reception measurement two of ultrasonic wave
Distance between car, one of them pulse high level time represents the propagation time from front truck to rear car for the ultrasonic wave, uses master control
The time of the pulse high level that the timer in equipment 1 records；
Initial distance computing formula between two cars:
Initial distance L0=t × vvoice
Wherein t is the pulse high level time measured by main control device 1, vvoiceIt is the velocity of sound, take 340m/s
Step 2: front truck system current target speed v and front truck system that front truck system acquisition PC sets are current
The target in moment beats angle α:
PC sends signal to the radio communication device 5 of front truck system, and front truck system obtains user at PC host computer
The target of the front truck system current target speed v of upper setting and front truck system current time beats angle α；
Step 3: the control to rotational angle for the front truck system steering control device 4
The target of the front truck system current time receiving is beaten angle α through being calculated the arteries and veins of front truck system by front truck system
Rush width T1And rotated by the pulse-width modulator of main control device 1 control steering control device 4, front truck system turn to control
The rotational angle α of device 4 processed1' with pulse width T of front truck system1Relation computing formula be:
Wherein T1For the pulse width of front truck system, unit is ms；α1' for the rotation of steering control device 4 of front truck system
Angle, the pulse period is 20ms；
Step 4: front truck system obtains the actual speed in the n moment for the front truck system by the speed measuring device 7 in front truck system
v1(n)
Catch pulse with the pulse accumulator of main control device 1 and count, opening timing relay, it is possible to record timing
Umber of pulse x within period p interrupted
Front truck system is in actual speed v in n moment1(n) computing formula:
Wherein x is pulse number, and a is the number of teeth of speed measuring device 7 input measure speed gears, and d is front back wheels of vehicle diameter, and b is
The front truck rear axle gear number of teeth, c is that speed measuring device rotates umber of pulse produced by a circle, and p is the cycle of Interruption；
Step 5: by actual speed v in front truck system each moment the moment from 0 to n1(0), v1
(1), v1N () integration obtains distance S that front truck system is passed by the moment from 0 to n1(n)
The actual speed of the front truck system that main control device 1 is calculated is discrete variable v1(i), wherein v1I () is front truck system
System is in the actual speed in i moment, and wherein the i moment is any instant from this time period in 0 moment to n moment, therefore integration is public
Formula is reduced toI.e. only the actual speed summation in front truck each moment the moment from 0 to n just can need to be obtained
Front truck system distance S that the moment, front truck system is walked from 0 to n1(n)；
Step 6: by incremental timestamp, makes front truck system in actual speed v in n+1 moment1(n+1) close predetermined
Front truck system current target speed v；
Incremental timestamp:
Owing to actual speed and target velocity always have deviation, the regulation of increment type PID speed is used to improve the stability of speed,
Reducing the deviation of actual speed and target velocity, the front truck system obtaining speed measuring device 7 in the n moment is in the actual speed in n moment
Degree v1N () and front truck system current target speed v carry out the adjustment of proportional component and integral element；
If n is moment electric moter voltage unFor controlled quentity controlled variable, the increment of the controlled quentity controlled variable of increment type PID output is Δ un, then the n-1 moment
Electric moter voltage is un-1, increment type PID output be the increment of controlled quentity controlled variable be Δ un-1；
Therefore electric moter voltage should be un=un-1+Δun
What increment type PID exported is increment Delta u of controlled quentity controlled variablen=un-un-1=A (en-en-1)+Ben+C(en-2en-1+
en-2)；
Front truck system current target speed v and front truck system are in actual speed v in n moment1N the difference of () is en=
v-v1(n), en-1=v-v1(n-1),en-2=v-v1(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 started to be gradually increased from 0, is constantly running front truck system
Or rear car system, until front truck system or rear car system just occur overshoot, undetermined parameter A is set to front truck system or rear car system
Just there is 60% to 80% during overshoot；
Then parameter A is constant, and undetermined parameter B is started to be gradually increased from 0, is constantly running front truck system or rear car system
System, until front truck system or rear car system just occur overshoot, undetermined parameter B is set to front truck system or rear car system just occurs
During overshoot 60% to 80%；
Last undetermined parameter C is set to 0；
Step 7: front truck system passes through radio communication device 5, sends front truck system current target speed to rear car system
Degree v, the target of front truck system current time beats angle α and front truck system distance S that the moment, front truck system is walked from 0 to n1
(n):
The total data receiving from PC is included front truck system current target speed v, front truck system by front truck system
The target of system current time beats angle α and front truck system distance S that the moment, front truck system is walked from 0 to n1N (), by front
Radio communication device 5 in car system and rear car system is sent to rear car system；
Rear car system receive the target of front truck system current time beat angle α and front truck system from 0 to n front truck the moment
Distance S that system is walked1N, after (), the value that target in the same time does not beats angle α due to front truck system is different, will not in the same time
The value of α preserve with the form of array, make α (n)=α；
The target in the n moment for the front truck system that wherein α (n) is beats angle, and α (n) and S1(n) one_to_one corresponding
Step 8: rear car system beats angle α according to oneself position, the target adjusting rear car system current time2
Rear car rate integrating obtains rear car distance S that rear car is passed by the m moment2(m)
By integral formulaObtain rear car distance S2(m)
Step one is recorded before and after car initial distance L0, then measure length X of rear vehicle body2, the therefore initial distance of rear car
For-(L0+X2), rear car distance S2At-(L0+X2) to beat angle to steering wheel between 0 be 0, rear car distance S2> send according to front truck after 0
Data travel；
Front truck distance S that rear car system receives1With rear car calculated rear car distance S2It is all discrete, so at m
Rear car distance S that moment rear car system-computed obtains2M () is probably in two adjacent distances S receiving and preserving1(n) and S1
(n+1), between, rear car system beats after averaging in angle two targets taking corresponding to preserved two distance as rear car
The target of system current time beats angle α2；
For example: m moment rear car system detects that the current distance of oneself is S2(m), and rear car system is connect by step 7
Front truck distance S receiving1Interior closest to S2(m) have two groups of data S1(n)、S1(n+1), wherein, S1N () is that front truck system is from 0
The distance that front truck system is walked to the n moment, S1(n+1) by front truck system from 0 to n+1 the moment front truck system walked
Distance
With front truck system distance S that the moment, front truck system is walked from 0 to n1N () corresponding angle of beating is that front truck system exists
The target in n moment beats angle α (n)；
With front truck system distance S that the moment, front truck system is walked from 0 to n+11(n+1) corresponding angle of beating is front truck system
The target in the n+1 moment for the system beats angle α (n+1)；
Then the target of rear car system current time beats angle α2Meet following relation:
α2=α (n) (S2(m)=S1(n))
α2=(α (n)+α (n+1))/2 (S1(n)<S2(m)<S1(n+1))
α2=α (n+1) (S2(m)=S1(n+1))
Step 9: rear car system beats angle α according to the target in rear car system m moment2Control steering control device 4 realizes turning
To, target velocity v according to the front truck system m moment and rear car system in actual speed v in m moment2M () is by PID regulation control
Actual speed v in intelligent vehicle m+1 moment processed2(m+1)；
Through being calculated rear car system pulse width T2And turned to by steering control device 4 control, rear car system
The rotational angle α of the steering control device 4 of system2' with pulse width T of rear car system2Relation computing formula be:
Wherein T2For positive pulse width (ms)；α2' for the rotational angle of steering control device 4 of rear car system；Pulse period
For 20ms
Catching pulse with the pulse counter of main control device 1 afterwards and counting, opening timing is interrupted, it is possible to it is fixed to record
When interrupt period p within umber of pulse x
Rear car system is in actual speed v in m moment2(m) computing formula:
Wherein x is pulse number, and a is the number of teeth of speed measuring device 7 input measure speed gears, and d' is rear back wheels of vehicle diameter, b'
Being the rear car rear axle gear number of teeth, c is that speed measuring device rotates umber of pulse produced by a circle, and p is the cycle of Interruption；
Again through incremental timestamp:
Owing to actual speed and target velocity always have deviation, the regulation of increment type PID speed is used to improve the stability of speed,
Reducing the deviation of actual speed and target velocity, the rear car system obtaining speed measuring device 7 in the m moment is in the actual speed in m moment
Degree v2M target velocity v of () and front truck system current time carries out the adjustment of proportional component and integral element；
If m is moment electric moter voltage umFor controlled quentity controlled variable, the increment of the controlled quentity controlled variable of increment type PID output is Δ um, then the m-1 moment
Electric moter voltage is um-1, increment type PID output be the increment of controlled quentity controlled variable be Δ um-1；
Therefore electric moter voltage should be um=um-1+Δum
What increment type PID exported is increment Delta u of controlled quentity controlled variablem=um-um-1=A (em-em-1)+Bem+C(em-2em-1+
em-2)；
Target velocity v of front truck system current time and rear car system are in actual speed v in m moment2M the difference of () is em
=v-v2(m), em-1=v-v2(m-1),em-2=v-v2(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 started to be gradually increased from 0, is constantly running front truck system
Or rear car system, until front truck system or rear car system just occur overshoot, undetermined parameter A is set to front truck system or rear car system
Just there is 60% to 80% during overshoot；
Then parameter A is constant, and undetermined parameter B is started to be gradually increased from 0, is constantly running front truck system or rear car system
System, until front truck system or rear car system just occur overshoot, undetermined parameter B is set to front truck system or rear car system just occurs
During overshoot 60% to 80%；
Last undetermined parameter C is set to 0；
Step 10: 5 rear car systems of the radio communication device of rear car system are in actual speed v in m moment2(m) and rear car
System is in distance S walked in m moment2M () is sent to PC and shows on PC.
Claims (2)
1. the double car of intelligence is followed and communication experimental equipment, including the front truck system being arranged on front truck and after being arranged in rear car
Car system, it is characterised in that:
Front truck system includes main control device (1), power supply 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), range unit (8), toggle switch and key device (9) and
PC, main control device (1) signaling interface and DC electric machine drive apparatus (3), steering control device (4), radio communication device
(5), the signaling interface of liquid crystal display (6), speed measuring device (7), range unit (8), toggle switch and key device (9) is connected, main
Control equipment (1), radio communication device (5), speed measuring device (7), range unit (8), toggle switch and key device (9), liquid crystal
The voltage input interface of screen (6), steering control device (4) and DC electric machine drive apparatus (3) supplies pressure device (2) with power supply respectively
Connecting to obtain voltage, DC electric machine drive apparatus (3) gear of output end engages with car body rear wheel gear, steering control device
(4) output is connected with car body front wheel knuckle by pull bar, speed measuring device (7) input measure speed gears and car body rear wheel gear
Engagement；
Main control device has timer, pulse-width modulator, pulse accumulator, timer interrupter in (1)；
Annexation between the structure of rear car system and each parts is identical with above-mentioned front truck system, the range finding in front truck system
Device (8) suspends and is fitted on front truck body rear end, and the range unit (8) in rear car system suspends and be fitted in the rudder of rear car
On machine；
PC can be communicated with front truck system and rear car system by radio communication device (5).
2. the double car of intelligence according to claim 1 is followed and communication experimental equipment, it is characterised in that: described power supply is for press-fiting
Put (2) and include battery (10), 5V Voltage stabilizing module, 3.3V Voltage stabilizing module, 6V Voltage stabilizing module, 12V Voltage stabilizing module, manometric module, electricity
Pond (10) connects with the input interface of 5V Voltage stabilizing module, 6V Voltage stabilizing module, 5V Voltage stabilizing module output interface and 3.3V Voltage stabilizing module,
The input interface of 12V Voltage stabilizing module connects, and manometric module input interface is connected with battery (10), and power supply is for the 5V of pressure device (2)
The output interface of Voltage stabilizing module and main control device (1), radio communication device (5), speed measuring device (7), range unit (8), dial-up
The voltage input interface of switch and key device (9) is connected；Power supply for pressure device (2) 3.3V Voltage stabilizing module output interface with
The voltage input interface of liquid crystal display (6) is connected；The output interface of the 6V Voltage stabilizing module for pressure device (2) for the power supply and course changing control fill
The voltage input interface putting (4) is connected；The output interface of the 12V Voltage stabilizing module for pressure device (2) for the power supply and DC motor Driver
The voltage input interface of device (3) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105551345A (en) * | 2016-03-02 | 2016-05-04 | 吉林大学 | Experimental device and method for dual-intelligent-vehicle communication and following teaching |
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2016
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105551345A (en) * | 2016-03-02 | 2016-05-04 | 吉林大学 | Experimental device and method for dual-intelligent-vehicle communication and following teaching |
| CN105551345B (en) * | 2016-03-02 | 2018-03-02 | 吉林大学 | The double cars of intelligence communicate and followed experiment device for teaching and experimental method |
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