论文部分内容阅读
针对“飞思卡尔”杯全国大学生智能车竞赛,在智能车整体控制中,对于舵机的精准控制显得十分重要;分析了舵机系统各个部分组成原理,采用实验建模方法,利用实验测得的舵机系统的阶跃响应曲线来辨识出舵机模型参数(增益k、惯性时间常数T、滞后时间L);并根据遗传算法原理,借助MATLAB软件方便的绘图功能和强大的图像处理能力,用MATLAB语言编写了M文件进行辨识仿真;仿真结果表明,辨识参数误差小,对于舵机模型是一种有效的辨识方法;实践证明了该方案的可行性,这为实现舵机实时准确控制提供了重要的理论支持。
For the “Freescale” Cup national college student smart car competition, in the overall control of the smart car, it is very important for the precise control of the servos; the principle of the various parts of the steering system is analyzed, the experimental modeling method is used, the experiment According to the step response curve of the servo system, the servo model parameters (gain k, inertia time constant T and lag time L) are identified. Based on the principle of genetic algorithm and the convenient drawing function and powerful image processing Ability, using MATLAB language M file identification simulation; simulation results show that the identification parameter error is small, for the servo model is an effective identification method; practice proved the feasibility of the program, which in order to achieve real-time accuracy of the steering gear Control provides important theoretical support.