An Implementation of PID Control on a Line Tracing Car with Digital and Analog Sensors

• Main Authors: Mai Bao Trung, 麥保忠
• Other Authors: Fu-hua Jen
• Format: Others
• Language: en_US
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/40732495158489310949

碩士 === 明新科技大學 === 精密機電工程研究所 === 100 === This study describes about an autonomous line tracing car using PID algorithm. The line tracing car will run in a fixed route field. It can test the field at the first running and then take another run with speed as fast as possible. The PID controller is designed to get the performance of tracking line operation. The algorithm corrects the position of the line tracing car on the track through feedback signal from infrared (IR) sensors. This can make a small car reach the speed at 157 cm per second. The integrated PID module allows tuning three PID gains to get better performance during the test run. The measurement &; calculation modules store every passed section’s profile of route field. It includes the distance between marks and radius of curvature. After analysis, the main microprocessor will provide action details for every section. The line tracing car will accelerate on the straight line and will reduce velocity while changing the direction.