Research On Adaptive Control System Of Automatic Car Washing Machine Based On Multi-sensor

With the improvement of people’s living standards,cars have become the main means of transportation for people,and people are paying more and more attention to their own car maintenance.Car cleaning has become one of the key parts of car maintenance.Faced with the rapid development of the automobile industry,traditional car washing equipment cannot meet the requirements in terms of washing effect,washing speed,washing cost,and water resource saving.Therefore,a new type of automatic car washing equipment came into being.The car washing machine control system is an important part of the automatic car washing machine equipment,and its performance directly affects the quality of the entire car washing equipment.Therefore,the research and development of an excellent automatic car washing machine adaptive control system will improve the cleaning efficiency and cleaning reliability of the car washing machine.And the cleaning effect is of great significance.This thesis analyzes the current research status of automatic car washing machines at home and abroad,and develops a multi-sensor-based adaptive control system for automatic car washing machines in response to the current market’s functional requirements for car washing machines,which includes body contour cleaning,motor control,and image processing.And other key technologies have been studied.The specific research content of this thesis is as follows:(1)According to the functional requirements of the car washer,the overall scheme of the adaptive control system of the automatic car washer is designed,including the adaptive control and cleaning of the vehicle chassis,body roof,wheels and other parts,so as to realize the parking of different models and uncertain vehicles.The position is adjusted,and the key technology of the adaptive control system of the automatic car washing machine is analyzed.(2)The relevant algorithms of the adaptive control system of the automatic car washing machine are studied.Aiming at the current problem that the single sensor detects the insufficient fit between the car wash brush and the car body,a multi-sensor information fusion algorithm is proposed.The adaptive weighted average fusion algorithm is used to change the variance of the sensor measurement in real time according to the car model and car body position,and the changed measurement is used Variance calculates the weight of each data fusion.When the fusion variance is the smallest,the accuracy of the fusion result is the highest.At this time,the sensor is given the most appropriate weight.The fused data and other sensors form a fuzzy control algorithm to achieve car wash the brush fits well with the car body.Aiming at the problem of instability of car washing brush motor motion,a fuzzy PID-based motion control algorithm of car washing brush motor is studied.Aiming at the problem of improper wheel cleaning,the wheel alignment algorithm is studied,and the image processing technology is used to realize the accurate positioning of the wheel.(3)The software and hardware design of the adaptive control system of the automatic car washing machine is realized.In the hardware part,key circuits such as the minimum system circuit,motor drive circuit,power module circuit and electrical switch control are designed,and the key components are selected and parameterized.In the software part,the operation control flow of body cleaning,chassis cleaning,and wheel cleaning is designed,and the software of the image acquisition camera is set.