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In this paper, a line -tracking robot based on P -FUZZY -PI control was designed. A Freescale’s 16 bit MCU- MC9S12DG128B was adopted to be its controller, and a monochrome CMOS image sensor was chose to sample the roads’ parameters to get the control information. Besides, special circuitries were designed to detect real time speed of the motor and angle change of the servo, then two closed loops about these two parameters were structured, Some control algorithms, such as P control, PI control or fuzzy control, were adopted according to different error, thus the strategy of line-tracking robot was optimized. The results demon-strate the availability of system.
A This paper, a line -tracking robot based on P -FZZY -PI control was designed. A Freescale’s 16 bit MCU- MC9S12DG128B was adopted to be its controller, and a monochrome CMOS image sensor was chose to sample the roads’ parameters to get the control information. Besides, special circuitries were designed to detect real time speed of the motor and angle change of the servo, then two closed loops about these two parameters were structured, Some control algorithms, such as P control, PI control or fuzzy control , were adopted according to different error, thus the strategy of line-tracking robot was optimized. The results demon-strate the availability of system.