Research on speed detection method of tracked vehicle automatic driving system

摘要

The tracked vehicle autopilot system is a high-precision motion control system and many modules require high-resolution, stable and accurate speed feedback over a wide range of speeds. Based on the analysis of several common encoder-based speed measurement methods, an improved M / T speed detection method is proposed. Advantage TMS320F28377 dual-core parallel operation, while the encoder to detect the speed feedback signal is a full cycle of the number and the non-full-cycle length of the sampling period, in order to improve the accuracy of detecting the rotational speed; Finally, through the real car test to verify the improved M / T speed detection method accuracy.