|Table of Contents|

The Blind Guiding System of Direction And Speed Integrated Control Based on FPGA(PDF)

《哈尔滨理工大学学报》[ISSN:1007-2683/CN:23-1404/N]

Issue:
2016年06期
Page:
55-60
Research Field:
计算机与控制工程
Publishing date:

Info

Title:
The Blind Guiding System of Direction And Speed Integrated Control Based on FPGA
Author(s):
JING GuFENG Xiao-xueZHANG Xue-song
    ( School of Computer Science, Harbin University of Science and Technology, Harbin 150080, China)   
Keywords:
blind guiding system FPGA model of direction and speed integrated control servo self-tuning control algorithms based on fuzzy rules 
PACS:
TP391.41
DOI:
10.15938/j.jhust.2016.06.011
Abstract:
This paper designs with FPGA as the control core of the blind-guide-handcart control system on the basis of preview follower theory.The system can realize the control of traveling on the normal blind road,avoiding obstacle and distinguishing of traffic lights,so it provides security for the blind traveling.Firstly,the system builds an integrated control model of angle and velocity based on the plane geometry constraint.Secondly,this paper proposes a servo self-tuning control algorithm that is suit to FPGA based on fuzzy rules,and achieves the direction and speed comprehensive control of blind-guide-handcart.Then the design fulfills modeling and debugging under the Matlab environment,and applies Quartus II to design and simulate for system controller after the successful commissioning.Experiments show that the system has strong real-time and reliability,and has a great extent safety for protecting the blind traveling.

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Last Update: 2017-02-28