智能小车运动轨迹的控制方法研究
论文主要研究内容为非完整控制系统的智能小车在PID控制下的实验模拟情况，以及智能小车在MATLAB程序运行下真实的轨迹跟踪路线。
研究结论表明：依照PID控制算法，根据二自由度轮式移动机器人的运动学模型，系统建模与仿真广泛应用于机器人车辆工程,减少开发时间,提高汽车设计,小型化复杂的系统。本文关注的是四轮转向汽车的转向控制。经过调优的PID控制器被设计用于自主地面车辆。26793
本文的特色在：根据PID控制算法，建立simulink小车模型，编写MATLAB语言程序，完成仿真，并且完成相应的试验任务。
关键词：二自由度智能小车；路径跟踪；mtalab；PID。
毕业论文设计说明书外文摘要
Title Study on the method of smart car movement Trajectory control
Abstract
Intelligent vehicles, the wheeled mobile robot.In this paper the smart car USES a two degrees of freedom differential model, through the change of the car two motor speed and positive &negative regulate and guide wheel auxiliary to change the movement direction of the car.This thesis selects MATLAB programming as the data processing and control software.Smart car automatic control system by MATLAB programming constructs, and complete the car trajectory tracking, target driving test task, etc.
Paper main research content for the nonholonomic control system of smart car situation, under the inversion algorithm of simulation and intelligent car under MATLAB running real trajectory tracking route.
Research result shows that the algorithm according to the others research, according to two degrees of freedom of wheeled mobile robot kinematics model, system modeling and simulation is widely used in robot vehicle engineering, reduce development time, improve the car design, miniaturization of complex systems.This article focuses on the four-wheel steering vehicle steering control.After tuning of PID controller was designed for autonomous ground vehicles.
Characteristic of this paper is: according to the existing inversion algorithm, write the MATLAB language program to complete the simulation, and the corresponding test task.
Keywords: differential wheeled mobile robot ; path tracking ; Matlab; PID .
目 录
1 绪论 1
1.1 课题研究背景及研究的目的和意义 1
1.2 国内外智能车辆发展研究现状 1
1.3 智能小车动力学建模分析 2
1.4 本文主要内容与安排 3
1.5 文本结构 3
1.6 本章小结 3
2 小车模型的讨论 4
2.1 小车的物理特性讨论 4
2.2 小车模型建立 5
2.2.1小车位置 5
2.2.2车轮约束 6
2.2.3阿克曼机制 6
2.3运用simulink建立小车仿真模型 8
2.4 本章小结 9
3 智能小车控制系统设计 10
3.1 PID控制简述 10
3.2 PID控制规律 10
3.3 PID作用分析 13
3.4 本章小结 14
4 实验设计与仿真验证 15
4.1设计实验轨迹 15
4.2 不同曲线下的参数设置和仿真结果 16