Closed-loop Charging Control And Track Identification Optimization Of Wireless Charging Intelligent Vehicle Based On S9KEAZ128

This article is based on the technical requirements of the 13 th and 14 th National Univ ersity Students NXP Cup Smart Car Competition,taking the 13 th and 14 th National Uni versity Students' NXP Cup smart car "Learning Endless" team and "Xiaomingzayang" t eam of Anhui Sanlian College as the research objects.With Altium Designer 18 as the sy stem hardware design and development platform,IAR EWAEM is used for program des ign,single-chip C language is used for compilation,and smart car microcontroller uses S9KEAZ128 AMLK.Combined with the thirteenth and fourteenth smart car competition rules,it mainly studies the system hardware design of electromagnetic smart cars,wirel ess charging control,track recognition,and puts forward some thoughts on car path opti mization.The innovation of this article is mainly reflected in three aspects.(1)According to the thirteenth and fourteenth smart car competition rules,combined with actual experience,the actual power feedback adjustment is used to calculate the P WM control charging input,and the wireless charging scheme is optimized.Experiments show that this scheme improves the charging efficiency and reduces the complexity of t he relative position of the charging coil.(2)The charging time of the super capacitor is shortened obviously,which is more ene rgy-saving.In order to make the car travel more smoothly along the center line of the tra ck,this paper uses two vertical inductors and five parallel inductors,and the two ends of the inductors are arranged in an "eight" shape.The vertical inductance is used to calculate the special angle when entering the roundabout,the center horizontal inductance is used to determine the roundabout,and the remaining parallel inductances are used to calculate the deviation of the car from the centerline.Compared with the traditional dual inductance difference ratio,the layout method has improved stability and accuracy.(3)In order to make the car get better stability and speed,collect the attitude sensor to measure the value of the horizontal gyroscope,and participate in the cascade PID algorithm to calculate the direction output control quantity.Compared with the classic single-loop PID,after using the cascade PID algorithm,the steering stability of the Ssmart car has been improved.At the same time,in the processing of roundabouts and roadblocks in the fourteenth smart car competition rules,the use of the gyro horizontal square velocity value to assist the calculation is particularly obvious.This paper introduces the design scheme and principle of the hardware circuit of the wireless charging intelligent vehicle.The actual power of the capacitor charging is collected by the ad module of the microcontroller,and the closed-loop control is made for the vehicle to charge with constant power,which reduces the power loss during charging and saves the charging time.This paper optimizes the arrangement by electromagnetic sensors,uses the principle of "similar triangle" to more accurately calculate the car's position away from the center line,focuses on the intelligent car's use of electromagnetic sensors to identify the roundabout,Use sharp infrared sensor to identify the road block,Using gyroscope sensor to assist the car to pass through the elements of the ring island and the road block.These are of some reference value to the students who design and make smart cars,of course,there are also shortcomings,which need further in-depth study.