电磁导航智能寻迹小车方向控制算法的分析与应用

针对电磁式智能小车系统路径信息处理复杂的问题,提出了一种基于延伸有效增减区间的优化PID算法。首先,对磁场信号检测原理作了介绍,提出了一种新的传感器布置方案;其次,提出使用归一化处理来解决数据不对称的问题,通过MATLAB仿真的方法分析了前瞻高度与位置解算函数线性度的关系,并提供了扩展单调区间宽度的方法;最后,对传统PID算法的各个环节分别进行了改进,提出舍弃积分控制环节来克服转向的时滞性,使用位置偏差的二次幂作为比例系数来保证转向角度与弯道的吻合度,在微分控制环节当中引入非线性环节来达到优化路径的目的。在保证小车寻迹精度的前提下,改进后的算法相对于传统PID算法使小车的车速提高了约20%。实验表明,该算法能够实现小车识别复杂路径、自主寻迹的功能。

Analysis and Application for Steering Control Algorithm of Smart Track-searching Car Based on Electromagnetic Navigation

Focusing on the question that the complexity of path information processing of the intelligent track-searching car system based on electromagnetic navigation, a optimized PID algorithm based on extending the effective monotone interval was proposed. Firstly, the principle of signal detection was introduced in magnetic field, and a new placement scheme of electromagnetic sensor was presented. Secondly, to solve the problem of unsymmetrical data, the normalization of sampled data was proposed, and the correlation between the height of the sensor and the linearity of the position calculation function was analyzed by using the method of MATLAB simulation, and then a way of extending the monotone interval width was given. Finally, the classic algorithm called PID was improved in all components where abandoning the integral control tache so as to avoid the time-lagged steering, and using the coefficient of proportional component equaled to the square of position error to ensure the anastomosis between steering degree and curvature, and introducing the nonlinear part into differential block in order to optimize trajectory were proposed respectively. In the comparison experiments with the traditional PID algorithm, the velocity of improved PID algorithm increased by about 20% with the higher detection accuracy. The experimental results show that the car system which was able to recognize complex tracks and be tracing automatically was achieved with the algorithm proposed in this paper.