单线激光雷达摆动扫描装置及其控制

摘要

A lidar swing equipment based on the unbiased crank-rocker mechanism is used on the ALV to assist monoline lidar to obtain barrier' s geometry information.Characteristics of the unbiased crank- rocker mechanism are analyzed.To realize the even velocity scan function on the body plane, the relationship between the DC motor rotate speed and the lidar swing angle is educed by curve fitting method.The system mathematical model is established and a PID controller is designed.Simulation results are presented to demonstrate the effectiveness and advantage of the control system.At last, the expectation function of the lidar swing equipment is proved by the experiment data,which can be used for the active perception faculties of ALV.%为弥补单线激光雷达在获取障碍物的几何形状信息上能力较弱的缺点,采用了一种基于无急回特性曲柄摇杆机构的ALV车载激光雷达摆动装置;分析了曲柄摇杆机构的运动特点及无急回特性装置杆长条件;为实现激光雷达在车体平面匀速扫描功能,使用多项式拟合的方法计算出驱动曲柄旋转的直流电机转速与激光雷达摆角之间的关系;建立了系统数学模型,设计了直流电机转速PID控制器,仿真结果表明当负荷力矩不断变化时,系统响应速度快,跟踪误差小;实验数据证明该激光雷达摆动装置实现了期望功能,性能可靠,能够满足ALV主动环境感知的要求.