基于GPS导航的太阳能机器车系统研究

发布时间：2018-06-10 19:32

本文选题：机器车 + 软硬件设计　；参考：《南昌航空大学》2013年硕士论文

【摘要】：目前，机器车(轮式机器人)是比较前沿的高新技术，涉及到电子技术人工智能自动控制传感器技术计算机技术等多个学科，也正朝着更高级更智能的方向发展。太阳能电池是太阳能机器车正常运行的必要组成部分，能够为机器车源源不断的提供清洁能源。本文重点对基于GPS导航的太阳能机器车的自主智能巡航控制系统、电机控制系统、DGPS/图像匹配方法组合导航系统、太阳能供电系统进行研究。论文分别介绍了机器车的硬件设计和软件设计，硬件平台采用意法半导体公司的STM32F103RBT6芯片作为核心处理器，并采用模块化设计，包括自主智能巡航模块、GPS导航模块、电机控制模块、液晶显示和电源模块。软件部分主要是对机器车各个硬件模块的驱动程序进行设计，并对DGPS/图像匹配组合导航系统和太阳能最大功率点跟踪算法进行分析仿真。在DGPS/图像匹配组合导航系统中，对位置差分、载波相位差分算法、组合导航原理进行分析，并对SIFT算法进行介绍和改进，提高了其实时性。组合导航系统中采用卡尔曼滤波，评估导航参数的各种误差状态，并用误差状态评估值校正系统误差，，提高导航精度。能源管理是太阳能机器车的关键技术之一，只有对能源分配进行最优化管理，才能最有效的发挥太阳能能量的功效，因此对太阳能最大功率点跟踪(MPPT)算法的研究十分重要。本文在分析太阳能电池数学模型的基础上采用干扰观测法(PO)对太阳能最大功率点跟踪算法进行仿真。干扰观测算法简单，易于实现，被广泛用于太阳能最大功率点跟踪研究上。这部分分别对太阳能电池模块最大功率点跟踪模块脉宽调制(PWM)模块降压式转换器模块分别进行仿真，最后将这些模块集成组合成太阳能最大功率点跟踪仿真模型，得到仿真结果并从结果中得出扰动观测法能准确跟踪太阳能电池最大功率点的结论。
[Abstract]:At present, the machine car (wheeled robot) is a relatively cutting-edge high-tech, involving electronic technology? Artificial intelligence Auto-Control Sensor technology? Many subjects, such as computer technology, are also moving towards higher-level and more intelligent direction. Solar cells are an essential part of the normal operation of solar machine vehicles, which can provide clean energy for machine vehicles. This paper focuses on the autonomous intelligent cruise control system of solar machine vehicle based on GPS navigation, the integrated navigation system of DGPS/ image matching method of motor control system, The hardware design and software design of the machine vehicle are introduced in this paper. The hardware platform adopts STM32F103RBT6 chip of Italy Semiconductor Company as the core processor, and adopts the modular design. Includes autonomous intelligent cruise module GPS navigation module, motor control module, liquid crystal display and power module. In the software part, the driver of each hardware module of the machine vehicle is designed, and the DGPSimage matching integrated navigation system and the solar maximum power point tracking algorithm are analyzed and simulated. The position difference, carrier phase difference algorithm, integrated navigation principle are analyzed, and the sift algorithm is introduced and improved to improve its real-time performance. In the integrated navigation system, Kalman filter is used to evaluate the error state of navigation parameters, and the error state is used to correct the system error to improve the navigation accuracy. Energy management is one of the key technologies of solar machine vehicle. Only by optimizing the management of energy distribution can the most effective use of solar energy can be achieved. Therefore, it is very important to study the algorithm of maximum power point tracking (MPPTT) of solar energy. In this paper, based on the analysis of solar cell mathematical model, the maximum power point tracking algorithm of solar energy is simulated by means of interference observation method (POO). The interference observation algorithm is simple and easy to implement. It is widely used in the research of solar maximum power point tracking. This part of the solar cell module respectively? Maximum Power Point tracking Module? Pulse width Modulation (PWM) Modules? The step-down converter module is simulated separately. Finally, these modules are integrated into a solar maximum power point tracking simulation model. The simulation results and the conclusion that the perturbation observation method can accurately track the maximum power points of solar cells are obtained.
【学位授予单位】：南昌航空大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TP242;P228.4

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