| 基于单片机TC275的无人物流车控制器设计 |
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| 引用本文： | 李楚琳,唐雪梅,杨朝阳,张仪夫.基于单片机TC275的无人物流车控制器设计[J].湖北汽车工业学院学报,2021(1):17-20. |
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| 作者姓名： | 李楚琳 唐雪梅 杨朝阳 张仪夫 |
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| 作者单位： | 1.湖北汽车工业学院汽车工程学院 |
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| 基金项目： | 汽车零部件技术湖北省协同创新项目(2015XTZX0419)。 |
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| 摘 要： | 基于英飞凌单片机TC275设计了无人物流车的控制器.TC275通过解析惯性导航仪得到自车信息,并且接收来自计算平台NVIDIA JetsonTX2的路径规划决策信息.在应用层建立了基于模型预测控制算法的路径跟踪模型并生成代码,在底层设计了串口驱动、GTM驱动、ADC驱动以及CAN通信,控制无人物流车的驱动电机和转向舵机...
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| 关 键 词： | TC275 无人物流车 底层 应用层 控制器 |
Design of Unmanned Logistic Vehicle Controller Based on Single Chip Microcomputer TC275 |
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| Li Chulin,Tang Xuemei,Yang Zhaoyang,Zhang Yifu.Design of Unmanned Logistic Vehicle Controller Based on Single Chip Microcomputer TC275[J].Journal of Hubei Automotive Industries Institute,2021(1):17-20. |
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| Authors: | Li Chulin Tang Xuemei Yang Zhaoyang Zhang Yifu |
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| Institution: | (School of Automotive Engineering,Hubei University of Automotive Technology,Shiyan 442002,China) |
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| Abstract: | Based on Infineon single chip microcomputer TC275,the controller of unmanned logistic vehicle was designed.TC275 obtained the self-vehicle information by parsing the inertial navigator and received the path planning decision information from the computing platform NVIDIA JetsonTX2.In the application layer,a path tracking model based on model predictive control algorithm was established and the code was generated.At the bottom,serial port driver,GTM driver,ADC driver and CAN communication were designed to control the driving motor and steering gear of the unmanned logistics vehicle,and the application layer was integrated with the bottom code to download to the vehicle controller hardware to realize the path tracking function of unmanned logistics vehicle.The test results show that the controller based on TC275 can meet the basic driving function of the vehicle and realize the application of path tracking. |
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| Keywords: | TC275 unmanned logistic vehicle bottom application layer controller |
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