Design and Realization of Unmanned Mobile Platform Control System

摘要：

Unmanned Mobile Platform (UMP) is an intelligent and automated transport vehicle which can implement kinds of tasks by equipped different appurtenances. A fourwheel car with front wheels steer and rear wheels drive is selected as the moving mechanism, paper researches and designs a control system to make the platform follow the paths guide-line with the master control chip MC9S12DG128. Platform control system is divided into longitude and lateral parts based on system model. Because of its a nonlinear and timevariation system, the effect of normal PID controller is not good, paper combines fuzzy-controller and PId controller to adjust the PID parameters on-line, improves the system fault tolerance and robustness. Both the model and controller are developed in the Matlab/Simulink environment, they are proved feasible.

关键词： UMP PID fuzzy MC9S12DG128

作者: Li YongKe Chen ZiLi

作者单位: Department of Optical and Electronic Engineering,Ordnance Engineering College Shijiazhuang 050003,China

会议类型: 国际会议

会议名称: 2009 9th International Conference on Electronic Measurement & Instruments(第九届电子测量与仪器国际会议 ICEMI2009)

会议地点: 北京

会议语种:英文

页码: 2522-2526

在线出版日期: 2009-08-16（万方平台首次上网日期，不代表论文的发表时间）