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一般地,自主循迹平衡车摄像头固定安装,在行驶过程中车身倾角变化会导致摄像头前瞻改变。为解决这一问题,将车身重心倾角、倾角角速度、行驶速度等状态参数引入到前瞻控制方案中,设计出一套性能优良的前瞻自适应系统。提出了前瞻随车模状态参数自适应调整的控制方案,对方案在车模实验平台上进行实际应用评价,并用上位机显示实验结果。实验结果表明,所设计的前瞻自适应系统能达到前瞻快速跟随倾角的目标,并且能得到满足轨迹采集需求的动态前瞻,可以将本系统用于自主循迹平衡车。
In general, self-tracking balance car camera fixed installation, changes in body angle during driving will lead to camera forward-looking changes. In order to solve this problem, state parameters such as vehicle body center of gravity inclination, inclination angular velocity, driving speed and so on are introduced into the forward-looking control scheme to design a set of forward looking adaptive system with excellent performance. The control scheme of forward-looking auto-tuning of the parameters with the car model was put forward. The practical application of the scheme was evaluated on the car model experiment platform, and the experimental results were displayed by the host computer. The experimental results show that the designed forward-looking adaptive system can achieve the goal of forward-looking fast following inclination, and can achieve the dynamic look-ahead that meets the needs of trajectory acquisition, and the system can be used for an autonomous tracking balance vehicle.