競速自走車比例微分控制應用之研究

THE APPLICATION OF PROPORTIONAL-DERIVATIVE CONTROL ON AUTOMATIC RACING CARS

黃燕文(Yan-Wen Huang)；呂芳川(Fang-Chuan Lu)

自走車 ； 循跡控制 ； 比例微分PD 控制 ； Automatic Racing Cars ； proportional-derivative control ； PD control ； tracking control

桃園創新學報

35期（2015 / 12 / 01）

91 - 105

繁體中文

本文研究競賽自走車變速與穩定循跡之控制方法，以八位元的MCU，透過精簡後的短週期運算，達到密集修正、迅速穩定的控制目標，並達到智慧化變速的效果。本研究可以提升小資源自走車的控制效率並提升安全車速。由於以簡化的比例-微分控制(Proportional-Derivative Control, PD)概念對自走車進行分析，能避免繁雜的演算法, 故本方法適合在小資源(記憶體, CPU 性能)的系統上應用。

This study analyzed the control method of tracking and stability of a self-propelled vehicle speed by octet MCU, short cycle through composed operations, to achieve intensive correction, rapid and stable control objectives and achieve intelligent variable speed effects. Enhance the resources of small self-propelled vehicle speed control efficiency and improve safety. The method is suitable for application in small resources (memory, CPU performance) system for simplify proportional - derivative control (PD control) concept, the analysis of the experimental car, and avoid complicated algorithms.