第一篇：模糊控制的移動機器人的外文翻譯.doc

1998年的IEEE

國際會議上機器人及自動化 Leuven，比利時1998年5月

一種實用的辦法--帶拖車移動機器人的反饋控制 F.Lamiraux and J.P.Laumond 拉斯，法國國家科學(xué)研究中心

法國圖盧茲

{florent ,jpl}@laas.fr

摘要

本文提出了一種有效的方法來控制帶拖車移動機器人。軌跡跟蹤和路徑跟蹤這兩個問題已經(jīng)得到解決。接下來的問題是解決迭代軌跡跟蹤。并且把擾動考慮到路徑跟蹤內(nèi)。移動機器人Hilare的實驗結(jié)果說明了我們方法的有效性。

1引言

過去的8年，人們對非完整系統(tǒng)的運動控制做了大量的工作。布洛基[2]提出了關(guān)于這種系統(tǒng)的一項具有挑戰(zhàn)性的任務(wù)，配置的穩(wěn)定性，證明它不能由一個簡單的連續(xù)狀態(tài)反饋。作為替代辦法隨時間變化的反饋[10,4,11,13,14,15,18]或間斷反饋[3]也隨之被提出。從 [5] 移動機器人的運動控制的一項調(diào)查可以看到。另一方面，非完整系統(tǒng)的軌跡跟蹤不符合布洛基的條件，從而使其這一個任務(wù)更為輕松。許多著作也已經(jīng)給出了移動機器人的特殊情況的這一問題[6,7,8,12,16]。

所有這些控制律都是工作在相同的假設(shè)下：系統(tǒng)的演變是完全已知和沒有擾動使得系統(tǒng)偏離其軌跡。很少有文章在處理移動機器人的控制時考慮到擾動的運動學(xué)方程。但是[1]提出了一種有關(guān)穩(wěn)定汽車的配置，有效的矢量控制擾動領(lǐng)域，并且建立在迭代軌跡跟蹤的基礎(chǔ)上。存在的障礙使得達到規(guī)定路徑的任務(wù)變得更加困難，因此在執(zhí)行任務(wù)的任何動作之前都需要有一個路徑規(guī)劃。

在本文中，我們在迭代軌跡跟蹤的基礎(chǔ)上提出了一個健全的方案，使得帶拖車的機器人按照規(guī)定路徑行走。該軌跡計算由規(guī)劃的議案所描述[17]，從而避免已經(jīng)提交了輸入的障礙物。在下面，我們將不會給出任何有關(guān)規(guī)劃的發(fā)展，我們提及這個參考的細節(jié)。而且，我們認為，在某一特定軌跡的執(zhí)行屈服于擾動。我們選擇的這些擾動模型是非常簡單，非常一般。它存在一些共同點[1]。本文安排如下：第2節(jié)介紹我們的實驗系統(tǒng)Hilare及其拖車：兩個連接系統(tǒng)將被視為（圖1）。第3節(jié)處理控制方案及分析的穩(wěn)定性和魯棒性。在第4節(jié)，我們介紹本實驗結(jié)果。

圖1帶拖車的Hilare 系統(tǒng)描述

Hilare是一個有兩個驅(qū)動輪的移動機器人。拖車是被掛在這個機器人上的，確定了兩個不同的系統(tǒng)取決于連接設(shè)備：在系統(tǒng)A的拖車拴在機器人的車輪軸中心線上方（圖1，頂端），而對系統(tǒng)B是栓在機器人的車輪軸中心線的后面（圖1，底部)。A對B來說是一種特殊

情況，其中

= 0。這個系統(tǒng)不過單從控制的角度來看，需要更多的復(fù)雜的計算。出于這個原因，我們分開處理掛接系統(tǒng)。兩個馬達能夠控制機器人的線速度和角速度（，)。除了這些速度之外，還由傳感器測量，而機器人和拖車之間的角度，由光學(xué)編碼器給出。機器人的位置和方向（, ,）通過整合前的速度被計算。有了這些批注，控制系統(tǒng)B是：

（1）全球控制方案

3.1目的

當考慮到現(xiàn)實的系統(tǒng)，人們就必須要考慮到在運動的執(zhí)行時產(chǎn)生的擾動。這可能有許多的來源，像有缺陷的電機，輪子的滑動，慣性的影響...這些擾動可以被設(shè)計通過增加一個周期在控制系統(tǒng)（1），得到一個新的系統(tǒng)的形式

在上式中可以是確定性或隨機變量。在第一種情況下，擾動僅僅是由于系統(tǒng)演化的不規(guī)則，而在第二種情況下，它來自于該系統(tǒng)一個隨機行為。我們將看到后來，這第二個模型是一個更適合我們的實驗系統(tǒng)。

為了引導(dǎo)機器人，從一開始就配置了目標，許多工程認為擾動最初只是機器人和目標之間的距離，但演變的系統(tǒng)是完全眾所周知的。為了解決這個問題，他們設(shè)計了一個可輸入的時間-狀態(tài)函數(shù)，使目標達到一個漸近穩(wěn)定平衡的閉環(huán)系統(tǒng)?，F(xiàn)在，如果我們介紹了先前定義周期 在這個閉環(huán)系統(tǒng)，我們不知道將會發(fā)生什么。但是我們可以猜想，如果擾動 很小、是確定的、在平衡點（如果仍然還有一個）將接近目標，如果擾動是一個隨機變數(shù)，平衡點將成為一個平衡的子集。但是，我們不知道這些新的平衡點或子集的位置。

此外，在處理障礙時，隨時間變化的方法不是很方便。他們只能使用在附近的目標，這附近要適當界定，以確保無碰撞軌跡的閉環(huán)系統(tǒng)。請注意連續(xù)狀態(tài)反饋不能適用于真實情況下的機器人，因為間斷的速度導(dǎo)致無限的加速度。

我們建議達成某一存在障礙特定配置的方法如下。我們首先在當前的配置和使用自由的碰撞議案所描述[17]目標之間建立一個自由的碰撞路徑，然后，我們以一個簡單的跟蹤控制率執(zhí)行軌跡。在運動結(jié)束后，因為這一目標的各種擾動機器人從來沒有完全達到和目標的軌跡一致，而是這一目標的左右。如果達到配置遠離目標，我們計算另一個我們之前已經(jīng)執(zhí)行過的一個軌跡。

現(xiàn)在我們將描述我們的軌跡跟蹤控制率，然后給出我們的全球迭代方法的魯棒性問題。

3.2軌跡跟蹤控制率

在這一節(jié)中，我們只處理系統(tǒng)A。對系統(tǒng)B容易計算（見第3.4節(jié)）。

圖2 單一機器人的跟蹤控制率

很多帶拖車輪式移動機器人的跟蹤控制律已經(jīng)被提出。其中[16]雖然很簡單,但是提供了杰出的成果。如果 是模擬機器人的坐標構(gòu)成真實機器人（圖2），如果（）是輸入的參考軌跡，這種控制律表示如下：

（2）

我們控制律的關(guān)鍵想法如下：當機器人前進，拖車不需要穩(wěn)定（見下文）。因此，我們對機器人使用公式（2）。當它后退時，我們定義一個虛擬的機器人（圖3）這是對稱的真實一對拖車的車輪軸：

然后，當真正的機器人退后，虛擬機器人前進和虛擬系統(tǒng) 在運動學(xué)上是等同于真正的一個。因此，我們對虛擬機器人實行跟蹤控制法（2）。

圖3 虛擬機器人

現(xiàn)在的問題是：當機器人前進時，拖車是否真的穩(wěn)定？下一節(jié)將回答這個問題。

3.3 拖車穩(wěn)定性分析

在這里我們考慮的向前運動情況下 ,虛擬機器人向后的運動被等值轉(zhuǎn)變。讓我們把坐標 作為參考軌跡并且把坐標 作為實際運動的系統(tǒng)。我們假設(shè)機器人完全跟隨其參考軌跡： 并且我們把我們的注意力放在拖車偏差

。這一偏差的變化很容易從系統(tǒng)（1）推導(dǎo)出（系統(tǒng)A）：

盡管 是減少的（3）我們的系統(tǒng)而且被不等量限制了

（4）因此 和式（3）等價于

（5）

圖4顯示 的范圍隨著給定的 的值正在減少。我們可以看到，這個范圍包含了拖車的所有的位置，包括式（4）所界定的范圍。此外，以前的計算許可輕松地表明對于變量，0是一個漸近穩(wěn)定值的變量。

因此，如果實際或虛擬的機器人按照它的參考軌跡前進，拖車是穩(wěn)定的，并且將趨于自己的參考軌跡。

圖4 的穩(wěn)定范圍

3.4虛擬機器人系統(tǒng)B

當拖車掛在機器人的后面，之前的結(jié)構(gòu)甚至更簡單：我們可以用拖車取代虛擬的機器人。在這種實際情況下，機器人的速度 和拖車 一對一映射的連接。然后虛擬的機器人系統(tǒng)表示為如下：

和以前的穩(wěn)定性分析可以被很好的使用通過考慮懸掛點的運動。

下面一節(jié)討論了我們迭代計劃的魯棒性。

3.5迭代計劃的魯棒性

我們現(xiàn)在正在顯示上文所提到的迭代計劃的魯棒性。為此，我們需要有一個當機器人的運動時產(chǎn)生擾動的模型。[1]擾動的模型系統(tǒng)是一個不規(guī)則，從而導(dǎo)致矢量場確定性的變化。在我們的實驗中，我們要看到由于隨機擾動導(dǎo)致的例如在一些懸掛系統(tǒng)中發(fā)揮作用。這些擾動對模型是非常困難的。出于這個原因，我們只有兩個簡單的假說有：

其中s是沿曲線橫坐標設(shè)計路徑，和 分別是真正的和參考的結(jié)構(gòu)，是結(jié)構(gòu)空間系統(tǒng)的距離并且，是正數(shù)。第一個不等量意味著實際和參考結(jié)構(gòu)之間的距離成正比的距離覆蓋計劃路徑。第二個不等量是確保軌跡跟蹤控制率，防止系統(tǒng)走得太遠遠離其參考軌跡。讓我們指出，這些假設(shè)是非常現(xiàn)實的和適合大量的擾動模型。

我們現(xiàn)在需要知道在每個迭代路徑的長度。我們使用指導(dǎo)的方法計算這些路徑驗證拓撲

短時間的可控性[17]。這個也就是說，如果我們的目標是充分接近起初的結(jié)構(gòu)，軌跡的計算依然是起初的結(jié)構(gòu)的附近。在[9] 我們給出的估算方面的距離：如果

和 是兩種不夠緊密的結(jié)構(gòu)，規(guī)劃路徑的長度驗證它們之間的關(guān)系

這里 是一個正數(shù)。

因此，如果

是配置依次獲得的，我們有以下不等式：

這些不等式確保distCS 是上界序列 的正數(shù)

和趨近于足夠反復(fù)后的。

因此，我們沒有獲得漸近穩(wěn)定性配置的目標，但這一結(jié)果確保存在一個穩(wěn)定的范圍處理這個配置。這一結(jié)果基本上是來自我們選擇非常傳統(tǒng)擾動的模型。讓我們重復(fù)這包括諸如擾動模型的時間不同的控制律無疑將使其失去其漸近穩(wěn)定。實驗結(jié)果如下節(jié)顯示，收斂域的控制計劃是非常小的。

4實驗結(jié)果

現(xiàn)在，我們目前獲得的帶拖車機器人Hilare系統(tǒng)A和B的實驗結(jié)果。圖5和圖6顯示第一路徑計算的例子所規(guī)劃初始配置（黑色）和目標配置（灰色）之間的運動。在第二種情況下包括上一次計算結(jié)果。連接系統(tǒng)的長度如下：系統(tǒng)A中，厘米，系統(tǒng)B 厘米，厘米。表1和表2提供的初始和最后配置位置以及目標和期望配置在第一次動作和第二次動作之間的不足，3個不同的實驗。在這兩種情況下，第一次試驗相當于圖表。意味著，在第一動作后精度十分充足，沒有更多可進行的動作。

評論和意見：表1和表2的報告結(jié)果顯示了兩個主要的見解。首先，系統(tǒng)達成非常令人滿意的精密程度，其次迭代次數(shù)是非常小的（介于1和2之間）。事實上，精密程度取決于很多的速度和不同的動作。在這里，機器人的最大線速度是50厘米/秒。5結(jié)論

我們已經(jīng)提出了一種方法來控制機器人與拖車從初始結(jié)構(gòu)到一個已知輸入問題的目標。這種方法是以迭代于開環(huán)和閉環(huán)控制相結(jié)合為前提的辦法。它對大范圍的擾動模型已經(jīng)顯示出健全的一面。這個魯棒性主要來自拓撲性能指導(dǎo)方法介紹[17]。即使該方法不完全趨于機器人的最終目標，但是在真正實驗期間達到的精度程度是非常令人滿意的。

圖5：系統(tǒng)A：初始、目標配置跟蹤第一路徑

圖6：系統(tǒng)B：初始、目標配置跟蹤第一路徑和最終結(jié)果

表1：系統(tǒng)A：目標和期望配置在第一次動

表2：系統(tǒng)B：目標和期望配置在第一次動

作和第二次動作之間的差距

作和第二次動作之間的差距

參考文獻

[1]M.K.Bennani et P.Rouchon.Robust stabilization of flat and chained systems.in European Control Conference,1995.[2]R.W.Brockett.Asymptotic stability and feedback stabilization.in Differential Geometric Control Theory,R.W.Brockett, R.S.Millman et H.H.Sussmann Eds,1983.[3]C.Canudas de Wit, O.J.Sordalen.Exponential stabilization of mobile robots with non holonomic constraints.IEEE Transactions on Automatic Control,Vol.37, No.11, 1992.[4]J.M.Coron.Global asymptotic stabilization for controllable systems without drift.in Mathematics of Control, Signals and Systems, Vol 5, 1992.[5]A.De Luca, G.Oriolo et C.Samson.Feedback control of a nonholonomic car-like robot, “Robot motion planning and control”.J.P.Laumond Ed., Lecture Notes in Control and Information Sciences, Springer 'Verlag, to appear.[6]R.M.DeSantis.Path-tracking for a tractor-trailerlike robot.in International Journal of Robotics Research,Vol 13, No 6, 1994.[7]A.Hemami, M.G.Mehrabi et R.M.H.Cheng.Syntheszs of an optimal control law path trackang an mobile robots.in Automatica, Vol 28, No 2, pp 383-387, 1992.[8] Y.Kanayama, Y.Kimura, F.Miyazaki et T.Nogushi.A stable tracking control method for an autonomous mobile robot.in IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, 1990.[9] F.Lamiraux.Robots mobiles ci remorque : de la planification de chemins d: l ' e x h t i o n de mouuements,PhD Thesis N7, LAAS-CNRS, Toulouse, September 1997.[l0] P.Morin et C.Samson.Application of backstepping techniques to the time-varying exponential stabitisation of chained form systems.European Journal of Control, Vol 3, No 1, 1997.[11] J.B.Pomet.Explicit design of time-varying stabilizang control laws for a class of controllable systems without drift.in Systems and Control Letters, North [12] M.Sampei, T.Tamura, T.Itoh et M.Nakamichi.Path tracking control of trailer-like mobile robot.in IEEE International Workshop on Intelligent Robots and Systems IROS, Osaka, Japan, pp 193-198, 1991.[13] C.Samson.Velocity and torque feedback control of a nonholonomic cart.International Workshop in Adaptative and Nonlinear Control: Issues in Robotics, Grenoble, France, 1990.[14] C.Samson.Time-varying feedback stabilization of carlike wheeled mobile robots.in International Journal of Robotics Research, 12(1), 1993.[15] C.Samson.Control of chained systems.Application to path following and time-varying poznt-stabilization.in IEEE Transactions on Automatic Control, Vol 40,No 1, 1995.[16] C.Samson et K.Ait-Abderrahim.Feedback control of a nonholonomic wheeled cart zncartesaan space.in IEEE International Conference on Robotics and Automation, Sacramento, California, pp 1136-1141,1991.[17] S.Sekhavat, F.Lamiraux, J.P.Laumond, G.Bauzil and A.Ferrand.Motion planning and control for Hilare pulling a trader: experzmental issues.IEEE Int.Conf.on Rob.and Autom., pp 3306-3311, 1997.[18] O.J.Splrdalen et 0.Egeland.Exponential stabzlzsation of nonholonomic chained systems.in IEEE Transactions on Automatic Control, Vol 40, No 1, 1995.Bolland, Vol 18, pp 147-158, 1992.Proceedings ofthe 1998 IEEE International Conference on Robotics & Automation Leuven, Belgium May 1998

A practical approach to feedback control for a mobile robot with trailer F.Lamiraux and J.P.Laumond LAAS-CNRS Toulouse, France {florent ,jpl}@laas.fr

Abstract This paper presents a robust method to control a mobile robot towing a trailer.Both problems of trajectory tracking and steering to a given configuration are addressed.This second issue is solved by an iterative trajectory tracking.Perturbations are taken into account along the motions.Experimental results on the mobile robot Hilare illustrate the validity of our approach.Introduction Motion control for nonholonomic systems have given rise to a lot of work for the past 8 years.Brockett’s condition [2] made stabilization about a given configuration a challenging task for such systems, proving that it could not be performed by a simple continuous state feedback.Alternative solutions as time-varying feedback [l0, 4, 11, 13, 14, 15, 18] or discontinuous feedback [3] have been then proposed.See [5] for a survey in mobile robot motion control.On the other hand, tracking a trajectory for a nonholonomic system does not meet Brockett’s condition and thus it is an easier task.A lot of work have also addressed this problem [6, 7, 8, 12, 16] for the particular case of mobile robots

第二篇：外文翻譯

當今時代是一個自動化時代，交通燈控制等很多行業(yè)的設(shè)備都與計算機密切相關(guān)。因此，一個好的交通燈控制系統(tǒng)，將給道路擁擠，違章控制等方面給予技術(shù)革新。隨著大規(guī)模集成電路及計算機技術(shù)的迅速發(fā)展，以及人工智能在控制技術(shù)方面的廣泛運用，智能設(shè)備有了很大的發(fā)展，是現(xiàn)代科技發(fā)展的主流方向。本文介紹了一個智能交通的系統(tǒng)的設(shè)計。該智能交通燈控制系統(tǒng)可以實現(xiàn)的功能有：對某市區(qū)的四個主要交通路口進行控制：個路口有固定的工作周期，并且在道路擁擠時中控制中心能改變其周期：對路口違章的機動車能夠即時拍照，并提取車牌號。在世界范圍內(nèi)，一個以微電子技術(shù)，計算機和通信技術(shù)為先導(dǎo)的，一信息技術(shù)和信息產(chǎn)業(yè)為中心的信息革命方興未艾。而計算機技術(shù)怎樣 與實際應(yīng)用更有效的結(jié)合并有效的發(fā)揮其作用是科學(xué)界最熱門的話題，也是當今計算機應(yīng)用中空前活躍的領(lǐng)域。本文主要從單片機的應(yīng)用上來實現(xiàn)十字路口交通燈智能化的管理，用以控制過往車輛的正常運作。

研究交通的目的是為了優(yōu)化運輸，人流以及貨流。由于道路使用者的不斷增加，現(xiàn)有資源和基礎(chǔ)設(shè)施有限，智能交通控制將成為一個非常重要的課題。但是，智能交通控制的應(yīng)用還存在局限性。例如避免交通擁堵被認為是對環(huán)境和經(jīng)濟都有利的，但改善交通流也可能導(dǎo)致需求增加。交通仿真有幾個不同的模型。在研究中，我們著重于微觀模型，該模型能模仿單獨車輛的行為，從而模仿動態(tài)的車輛組。

由于低效率的交通控制，汽車在城市交通中都經(jīng)歷過長時間的行進。采用先進的傳感器和智能優(yōu)化算法來優(yōu)化交通燈控制系統(tǒng)，將會是非常有益的。優(yōu)化交通燈開關(guān)，增加道路容量和流量，可以防止交通堵塞，交通信號燈控制是一個復(fù)雜的優(yōu)化問題和幾種智能算法的融合，如模糊邏輯，進化算法，和聚類算法已經(jīng)在使用，試圖解決這一問題，本文提出一種基于多代理聚類算法控制交通信號燈。

在我們的方法中，聚類算法與道路使用者的價值函數(shù)是用來確定每個交通燈的最優(yōu)決策的，這項決定是基于所有道路使用者站在交通路口累積投票，通過估計每輛車的好處(或收益)來確定綠燈時間增益值與總時間是有差異的，它希望在它往返的時候等待，如果燈是紅色，或者燈是綠色。等待，直到車輛到達目的地，通過有聚類算法的基礎(chǔ)設(shè)施，最后經(jīng)過監(jiān)測車的監(jiān)測。

我們對自己的聚類算法模型和其它使用綠燈模擬器的系統(tǒng)做了比較。綠燈模擬器是一個交通模擬器，監(jiān)控交通流量統(tǒng)計，如平均等待時間，并測試不同的交通燈控制器。結(jié)果表明，在擁擠的交通條件下，聚類控制器性能優(yōu)于其它所有測試的非自適應(yīng)控制器，我們也測試理論上的平均等待時間，用以選擇車輛通過市區(qū)的道路，并表明，道路使用者采用合作學(xué)習(xí)的方法可避免交通瓶頸。

本文安排如下：第2部分敘述如何建立交通模型，預(yù)測交通情況和控制交通。第3部分是就相關(guān)問題得出結(jié)論。第4部分說明了現(xiàn)在正在進一步研究的事實，并介紹了我們的新思想。

The times is a automation times nowadays,traffic light waits for much the industey equipment to go hand in hand with the computer under the control of.Therefore,a good traffic light controls system,will give road aspect such as being crowded,controlling against rules to give a technical improvement.With the fact that the large-scale integrated circuit and the computer art promptness develop,as well as artificial intelligence broad in the field of control technique applies,intelligence equipment has had very big development,the main current being that modern science and technology develops direction.The main body of a book is designed having introduccd a intelligence traffic light systematically.The function being intelligence traffic light navar’s turn to be able to come true has：The crossing carries out supervisory control on four main traffic of some downtown area;Every crossing has the fixed duty period,charges centrefor being able to change it’s period and in depending on a road when being crowded;The motro vehicle breaking rules and regulations to the crossing is able to take a photo immediately,abstracts and the vehicle shop sign.Within world range ,one uses the microelectronics technology,the computer and the technology communicating by letter are a guide’s,centering on IT and IT industry information revolution is in the ascendant.But,how,computer art applies more effective union and there is an effect’s brought it’s effect into play with reality is the most popular topic of scientific community,is also that computer applications is hit by the unparalleled active field nowadays.The main body of a book is applied up mainly from slicing machine’s only realizing intellectualized administration of crossroads traffic light,use operation in controlling the vehicular traffic regularity.Transportation research has the goal to optimize transportation flow of people and goods.As the number of road users constantly increases, and resources provided by current infras-tructures are limited, intelligent control of traffic will become a very important issue in thefuture.However, some limitations to the usage of intelligent tra?c control exist.Avoidingtraffic jams for example is thought to be beneficial to both environment and economy, butimproved traffic-flow may also lead to an increase in demand [Levinson, 2003].There are several models for traffic simulation.In our research we focus on microscopicmodels that model the behavior of individual vehicles, and thereby can simulate dynam-ics of groups of vehicles.Research has shown that such models yield realistic behavior[Nagel and Schreckenberg, 1992, Wahle and Schreckenberg, 2001].Cars in urban traffic can experience long travel times due to inefficient traffic light con-trol.Optimal control of traffic lights using sophisticated sensors and intelligent optimizationalgorithms might therefore bevery beneficial.Optimization of traffic light switching increasesroad capacity and traffic flow, and can prevent tra?c congestions.Traffic light control is acomplex optimization problem and several intelligent algorithms, such as fuzzy logic, evo-lutionary algorithms, and reinforcement learning(RL)have already been used in attemptsto solve it.In this paper we describe a model-based, multi-agent reinforcement learningalgorithm for controlling traffic lights.In our approach, reinforcement learning [Sutton and Barto, 1998, Kaelbling et al., 1996]with road-user-based value functions [Wiering, 2000] is used to determine optimal decisionsfor each traffic light.The decision is based on a cumulative vote of all road users standingfor a traffic junction, where each car votes using its estimated advantage(or gain)of settingits light to green.The gain-value is the difference between the total time it expects to waitduring the rest of its trip if the light for which it is currently standing is red, and if it is green.The waiting time until cars arrive at their destination is estimated by monitoring cars flowingthrough the infrastructure and using reinforcement learning(RL)algorithms.We compare the performance of our model-based RL method to that of other controllersusing the Green Light District simulator(GLD).GLD is a traffic simulator that allows usto design arbitrary infrastructures and traffic patterns, monitor traffic flow statistics such asaverage waiting times, and test different traffic light controllers.The experimental resultsshow that in crowded traffic, the RL controllers outperform all other tested non-adaptivecontrollers.We also test the use of the learned average waiting times for choosing routes of cars through the city(co-learning), and show that by using co-learning road users can avoidbottlenecks.

第三篇：外文翻譯

設(shè)計一個位于十字路口的智能交通燈控制系統(tǒng)

摘要：本文模型使用模糊本體的交通燈控制域，并把它應(yīng)用到控制孤立十字路口。本文最重要的目的之一是提出一個獨立的可重復(fù)使用的交通燈控制模塊。通過這種方式，增加軟件的獨立性和為其他的軟件開發(fā)活動如測試和維護，提供了便利。專家對本體論進行手動的開發(fā)和評估。此外，交通數(shù)據(jù)提取和分類路口使用的人工神經(jīng)網(wǎng)絡(luò)的圖像處理算法。根據(jù)預(yù)定義的XML架構(gòu)，這種信息轉(zhuǎn)化為XML實例映射到適合使用模糊推理引擎的模糊規(guī)則的模糊本體。把本系統(tǒng)的性能與其他類似的系統(tǒng)性能進行比較。比較結(jié)果顯示：在所有的交通條件下，在每個周期中，對每輛車它有低得多的平均延遲時間與其他的控制系統(tǒng)相比。

關(guān)鍵詞:模糊本體,智能代理,智能交通系統(tǒng)(ITS),交通信號燈控制(TLC),孤立的十字路口,圖像處理,人工神經(jīng)網(wǎng)絡(luò)

1.引言

作為城市交通增加的結(jié)果,道路網(wǎng)絡(luò)的能力有限和發(fā)展交通工具和方法的技術(shù)方面，許多實體，關(guān)系，情況和規(guī)則已經(jīng)進入交通燈控制域和轉(zhuǎn)化成為一個知識領(lǐng)域。這個領(lǐng)域的建模知識幫助交通代理和應(yīng)用有效地管理關(guān)于實時條件下的交通。全面知識建模領(lǐng)域的一個最合適的方法是使用本體概念?！氨倔w論是一個正式的、明確的一個共享的概念化的規(guī)范。以前的模型是基本的本體建設(shè)的基礎(chǔ)，為下列建立一個共享的語義豐富的知識域。除了本體作為概念化的形式主義的重要性，它有可能超過所代表的數(shù)據(jù)。這種能力將提高有關(guān)性能的決定和其他非智能系統(tǒng)的功能特點。在近年來，本體論上的研究正成為一個新的熱點話題在不同的活動，如人工智能，知識管理，語義網(wǎng)絡(luò)，電子商務(wù)和幾個其他應(yīng)用領(lǐng)域。這些領(lǐng)域之一是智能交通系統(tǒng)。一些努力已制成這個通過展示和使用本體檢測交通領(lǐng)域擁塞，管理非城市道路氣象事件，駕駛阿德?！骼锵到y(tǒng)，共享和整合一個智能交通系統(tǒng)。本文的目的是介紹一個紅綠燈有效控制孤立交叉口這方面的知識重用的控制本體。這種新的辦法適用于智能代理使用知識決策模糊。該系統(tǒng)采用的圖像來自安裝了監(jiān)控攝像機拍攝的路口。這些圖像處理利用圖像處理算法和神經(jīng)網(wǎng)絡(luò)的方法，然后發(fā)送到一個智能代理。第2節(jié)中，我們將簡要地解釋了在這項工作中運用的技術(shù)包括seman-TIC網(wǎng)絡(luò)技術(shù)，智能代理技術(shù)和交通的回地面光控制方法。在第3節(jié)，新的系統(tǒng)架構(gòu)是基于分層語義網(wǎng)絡(luò)架構(gòu)。第4節(jié)介紹交通燈控制的模糊本體的建設(shè)。第五節(jié)從路口提取的圖像信息解釋。在第6節(jié)，智能系統(tǒng)的運作被完整描述，最后在第7節(jié)對所提出的方法進行評估，對結(jié)論進行闡述。

2.背景

本節(jié)說明在這項工作中的應(yīng)用技術(shù)包括語義網(wǎng)絡(luò)技術(shù)，特別本體和模糊本體。此外，國家的交通燈控制的藝術(shù)方法是簡要介紹。2.1.語義網(wǎng)絡(luò)技術(shù)

語義網(wǎng)絡(luò)被定義為當前Wed的延伸，這些網(wǎng)站的信息都給出明確的含義;使電腦與人更好的合作。有幾層語義Web的建議源自伯納斯滯后階段。在此類別中的所有規(guī)則如表1所示。圖.4顯示輸出模式的示意圖。本次評選有助于智能系統(tǒng)，以確定下一步的階段測序。

另一種模糊的規(guī)則類別涉及估計優(yōu)化周期時間。這些規(guī)則的模糊變量是天氣條件，時間，每天平均車輛擁堵情況。出于這個原因，60個模糊規(guī)則被定義了。從氣象研究所取得氣象條件。日期和時間也是在交通專家的知識的基礎(chǔ)上以模糊變量形式預(yù)先定義的。圖5顯示日期，時間和周期時間的隸屬函數(shù)。當天的參數(shù)是在日歷基礎(chǔ)上基于假期和正常的一天與周期時間量的關(guān)系預(yù)定義的。例如，假期期間的周期時間是較平日少。因此，平日的隸屬度比假期多。

例如一個階段選型的模糊規(guī)則如下所述：“如果一個路口的類型是四的方式，平均車輛擁堵低，平均行人擁堵是中等，然后相類型是簡單的兩階段”。此外，為周期時間估計的模糊規(guī)則表示如下：“如果天氣條件是晴天，時間是早晨，天是正常的，平均車輛擁堵是低，則周期時間短”。在此類別中的所有規(guī)則都列在附錄A。

在此步驟結(jié)束時，應(yīng)該對交通燈邏輯控制的項目的有效性進行評估。此功能是使用專家的意見。評價過程的主要目的是顯示發(fā)展的本體和其相關(guān)的軟件環(huán)境的用處。雖然所有的信息，尤其是交通燈控制規(guī)則已提取國際標準和科學(xué)交通文學(xué)，專家的知識優(yōu)勢是他們最后的正確性驗證標準。所有模糊規(guī)則，包括優(yōu)化周期時間和相位類型的規(guī)則，在這個過程中，準備以調(diào)查問卷形式和展現(xiàn)給一些專家包括從德黑蘭警察局交通上校和兩名來自德黑蘭的交通組織工程師。由于德爾菲專家的意見，約有84％的淘汰型規(guī)則和優(yōu)化周期時間的87％被接受。此外，所有交通邏輯控制的元素包括概念，關(guān)系，屬性和公理都被這些專家進行了評估和驗證。我們評估邏輯交通控制是基于理論知識的。在這個過程中進行了兩項活動，包括檢查的要求和能力的問題，并在目標應(yīng)用環(huán)境測試本體。由于邏輯交通控制已建成的基礎(chǔ)上，如指定要求優(yōu)化循環(huán)時間，逐步淘汰型，交通的移動和優(yōu)化綠燈時間，每個階段的序列中，第一項活動是最好的結(jié)果。邏輯交通控制滿足所有的交通燈控制的需求，并能回答的能力問題?？冃гu估機制，可以支持這種說法。在部分實驗結(jié)果我們驗證了這一過程。

第四篇：外文翻譯

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

超聲測距系統(tǒng)設(shè)計

原文出處：傳感器文摘 布拉福德：1993年第13頁

摘要：超聲測距系統(tǒng)技校在工業(yè)場車輛導(dǎo)航水聲工程等領(lǐng)域都具有了廣泛的應(yīng)用價值，目前已應(yīng)用于物理測量，機器人自動導(dǎo)航以及空氣中與水下的目標探測、識別定位等場合，因此，深入研究超聲的探測理論和方法具有重要的實踐意義，為了進一步提高測量的精確度，滿足工程人員對測量精度測距量程和測距儀使用的要求，本文研制了一套基于單片機的使拱式超聲測距系統(tǒng)。關(guān)鍵詞：超聲波 測距儀 單片機

1、前言

隨著科技的發(fā)展，人們生活水平的提高，城市發(fā)展建設(shè)加快，城市給排水系統(tǒng)也有較大發(fā)展，其狀況不斷改善，但是，由于歷史原因合成時間性的許多不可預(yù)見因素，城市給排水系統(tǒng)，特別是排水系統(tǒng)往往落后于城市建設(shè)，因此，經(jīng)常出現(xiàn)開挖已經(jīng)建設(shè)好的建筑設(shè)施來改造排水系統(tǒng)的現(xiàn)象。城市污水給人們帶來的困擾，因此箱的排污疏通對大城市給排水系統(tǒng)污水理，人們生活舒適顯得非常重要。而設(shè)計研制箱涵排水疏通移動機器人的自動控制系統(tǒng)，保證機器人在箱涵中自由排污疏通，是箱涵排水系統(tǒng)疏通機器人的設(shè)計研制的核心部分，控制系統(tǒng)核心部分就是超聲波測儀的研制。因此，設(shè)計好的超聲波測距儀就顯得非常重要了。

1.1課題背景

隨著經(jīng)濟的發(fā)展與汽車科學(xué)技術(shù)的進步，公路交通呈現(xiàn)出行駛高速化、車流密集化和駕駛員非職業(yè)化的趨勢。同時，隨著汽車工業(yè)的飛速發(fā)展，汽車的產(chǎn)量和保有量都在急劇增加。但公路發(fā)展、交通管理卻相對落后，導(dǎo)致了交通事故與日劇增，城市里尤其突出。智能交通系統(tǒng)ITS是目前世界上交通運輸科學(xué)技術(shù)的前沿技術(shù)，它在充分發(fā)揮現(xiàn)有基礎(chǔ)設(shè)施的潛力，提高運輸效率，保障交通安全，緩解交通賭塞，改善城市環(huán)境等方面的卓越效能，已得到各國政府的廣泛關(guān)注。中國政府也高度重視智能交通系統(tǒng)的研究開發(fā)與推廣應(yīng)用。汽車防撞系統(tǒng)作為ITS 發(fā)展的一個基礎(chǔ)，它的成功與否對整個系統(tǒng)有著很大的作用。從傳統(tǒng)上說，汽車的安全可以分為兩個主要研究方向:一是主動式安全技術(shù)，即防止事故的發(fā)生，該種方式是目前汽車安全研究的最終目的;二是被動式安全技術(shù)，即事故發(fā)生后的乘員保護。目前汽車安全領(lǐng)域被動安全研究較多，主要從安全氣囊、ABS(防抱死系統(tǒng))和懸架等方面著手，以保證駕乘人員的安全。從經(jīng)濟性和安全性兩方面來說，中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

這些被動安全措施是在事故發(fā)生時刻對車輛和人員進行保護，有很大的局限性，因而車輛的主動安全研究尤為重要，引出了本文研究的基于單片機的超聲波測距系統(tǒng)。這個系統(tǒng)是一種可向司機預(yù)先發(fā)出視聽語音信號的探測裝置。它安裝在汽車上，能探測企圖接近車身的行人、車輛或周圍障礙物;能向司機及乘員提前發(fā)出即將發(fā)生撞車危險的信號，促使司機采取應(yīng)急措施來應(yīng)付特殊險情，避免損失。

1.2 課題設(shè)計的意義

隨著現(xiàn)代社會工業(yè)化程的發(fā)展，汽車這一交通工具正為越來越多的人所用，但是隨之而來的問題也顯而易見，那就是隨著車輛的增多，交通事故的頻繁發(fā)生，由此導(dǎo)致的人員傷亡和財產(chǎn)損失數(shù)目驚人。對于公路交通事故的分析表明，80%以上的車禍事由于駕駛員反應(yīng)不及所引起的，超過65%的車輛相撞屬于追尾相撞，其余則屬于側(cè)面相撞。奔馳汽車公司對各類交通事故的研究表明：若駕駛員能夠提早1S 意識到有事故危險并采取相應(yīng)的正確措施，則絕大多數(shù)的交通事故都可以避免。因此，大力研究開發(fā)如汽車防撞裝置等主動式汽車輔助安全裝置，減少駕駛員的負擔(dān)和判斷錯誤，對于提高交通安全將起到重要的作用。顯然，此類產(chǎn)品的研究開發(fā)具有極大的實現(xiàn)意義和廣闊的應(yīng)用前景。

1.3超聲波測距在汽車上應(yīng)用的介紹

超聲波倒車測距儀(俗稱電子眼)是汽車倒車防撞安全輔助裝置，能以聲音或者更為直觀的數(shù)字形式動態(tài)顯示周圍障礙物的情況。其較早的產(chǎn)品是用蜂鳴器報警，蜂鳴聲越急，表示車輛離障礙物越近。后繼的產(chǎn)品可以顯示車后障礙物離車體的距離。其大多數(shù)產(chǎn)品探測范圍在0.4～1.5m，有的產(chǎn)品能達到0.35～2.5m，并有距離顯示、聲響報警、區(qū)域警示和方位指示，有些產(chǎn)品還具備開機自檢功能。目前市場上還出現(xiàn)了具有語音報警功能的產(chǎn)品。這些產(chǎn)品存在的主要問題是測量盲區(qū)大，報警滯后，未考慮汽車制動時的慣性因素，使駕駛者制動滯后，抗干擾能力不強，誤報也較多。汽車防撞雷達之所以能實現(xiàn)防撞報警功能，主要有超聲波這把無形尺子, 它測量最近障礙物的距離, 并告訴給車主。其實超聲測距原理簡單: 它發(fā)射超聲波并接收反射回波, 通過單片機計數(shù)器獲得兩者時間差t, 利用公式S=Ct/2計算距離, 其中S為汽車與障礙物之間的距離, C為聲波在介質(zhì)中的傳播速度。

本文介紹的超聲測距系統(tǒng)共有2只超聲波換能器(俗稱探頭),分別布置在汽車的后左、后右2個位置上。能檢測前進和倒車方向障礙物距離, 通過后視鏡內(nèi)置的

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

顯示單元顯示距離和方位, 發(fā)出一定的聲響, 起到提示和警戒的作用。系統(tǒng)采用一片STC89C52單片機對兩路超聲波信號進行循環(huán)采集。超聲波是指頻率高于20HHZ的機械波。為了以超聲波作為檢測手段，必須產(chǎn)生超生波和接收超聲波。完成這種功能的裝置就是超聲波傳感器，習(xí)慣上稱為超聲波換能器或超聲波探頭。超聲波傳感器有發(fā)送器和接收器，但一個超聲波傳感器也可具有發(fā)送和接收聲波的雙重作用。超聲波傳感器是利用壓電效應(yīng)的原理將電能和超聲波相互轉(zhuǎn)化，即在發(fā)射超聲波的時候，將電能轉(zhuǎn)換，發(fā)射超聲波；而在收到回波的時候，則將超聲振動轉(zhuǎn)換成電信號。超聲波測距的原理一般采用渡越時間法。首先測出超聲波從發(fā)射到遇到障礙物返回所經(jīng)歷的時間，再乘以超聲波的速度就得到二倍的聲源與障礙物之間的距離。測量距離的方法有很多種，短距離的可以用尺，遠距離的有激光測距等，超聲波測距適用于高精度的中長距離測量。因為超聲波在標準空氣中的傳播速度為331.45米/秒，由單片機負責(zé)計時，單片機使用12.0M晶振，所以此系統(tǒng)的測量精度理論上可以達到毫米級。由于超聲波指向性強，能量消耗緩慢，在介質(zhì)中傳播距離遠，因而超聲波可以用于距離的測量。利用超聲波檢測距離，設(shè)計比較方便，計算處理也較簡單，并且在測量精度方面也能達到要求。超聲波發(fā)生器可以分為兩類：一類是用電氣方式產(chǎn)生超聲波，一類是用機械方式產(chǎn)生超聲波。本設(shè)計屬于近距離測量，可以采用常用的壓電式超聲波換能器來實現(xiàn)觸發(fā)單元。

利用超聲波測距的工作，就可以根據(jù)測量發(fā)射波與反射波之間的時間間隔，從而達到測量距離的作用。其主要有三種測距方法：

（1）相位檢測法，相位檢測法雖然精度高，但檢測范圍有限；

（2）聲波幅值檢測法，聲波幅值檢測法易受反射波的影響；

（3）渡越時間檢測法，渡越時間檢測法的工作方式簡單，直觀，在硬件控制和軟件設(shè)計上都非常容易實現(xiàn)。其原理為：檢測從發(fā)射傳感器發(fā)射超聲波，經(jīng)氣體介質(zhì)傳播到接收傳感器的時間，這個時間就是渡越時間。本設(shè)計的超聲波測距就是使用了渡越時間檢測法。在移動車輛中應(yīng)用的超聲波傳感器，是利用超聲波在空氣中的定向傳播和固體反射特性（縱波），通過接收自身發(fā)射的超聲波反射信號，根據(jù)超聲波發(fā)出及回波接收的時間差和傳播速度，計算傳播距離，從而得到障礙物到車輛的距離。

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文 超聲波測距原理

2.1 壓電式超聲波發(fā)生器原理

壓電式超聲波發(fā)生器實際上是利用壓電晶體的諧振來工作的。超聲波發(fā)生器內(nèi)部結(jié)構(gòu)，它有兩個壓電晶片和一個共振板。當它的兩極外加脈沖信號，其頻率等于壓電晶片的固有振蕩頻率時，壓電晶片將會發(fā)生共振，并帶動共振板振動，便產(chǎn)生超聲波。反之，如果兩極板間未加電壓，當共振板接收到超聲波時，將壓迫壓電晶片做振動，將機械能轉(zhuǎn)換為電信號，這是它就成為超聲波接收器了。

測量脈沖到達時間的傳統(tǒng)方法是以擁有固定參數(shù)的接收信號開端為基礎(chǔ)的。這個信號恰恰選于噪音水平之上，然而脈沖到達時間被定義為脈沖信號剛好超過界限的第一時刻。一個物體的脈沖強度很大程度上取決于這個物體的自然屬性尺寸還有它與傳感器的距離。進一步說，從脈沖起始點到剛好超過界限之間的時間段隨著脈沖的強度而改變。結(jié)果，一種錯誤便出現(xiàn)了——兩個擁有不同強度的脈沖在不同時間超過界限卻在同一時刻到達。強度較強的脈沖會比強度較弱的脈沖超過界限的時間早點，因此我們會認為強度較強的脈沖屬于較近的物體。

2.2 超聲波測距原理

超聲波發(fā)射器向某一方向發(fā)射超聲波，在發(fā)射時刻的同時開始計時，超聲波在空氣中傳播，途中碰到障礙物就立即返回來，超聲波接收器收到反射波就立即停止計時。超聲波在空氣中的傳播速度為340m/s，根據(jù)計時器記錄的時間t，就可以計算出發(fā)射點距離障礙物的距離(s)，即：s=340t/2

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

3、超聲波測距系統(tǒng)的電路設(shè)計

系統(tǒng)的特點是利用單片機控制超聲波的發(fā)射和超聲波自發(fā)射至接受往返時間的計時，單片機選用C51，經(jīng)濟易用，且片內(nèi)有4K的ROM，便于編程。電路的原理如圖1所示。

圖1 電路原理圖

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

3.1 40kHz脈沖的產(chǎn)生與超聲波發(fā)射

測距系統(tǒng)中的超聲波傳感器采用UCM40的壓電陶瓷，它的工作電壓是40kHz的脈沖信號，這由單片機執(zhí)行下面的程序來產(chǎn)生。puzel：mov 14h，#12h

here： cp1.0；

nop；

nop；

nop；

djnz 14h，here；

Ret

前方測距電路的輸出端接單片機P1.0端口，單片機執(zhí)行上面的程序后，在P1.0端口輸出一個40khz的脈沖信號，經(jīng)過三極管T放大，驅(qū)動超聲波發(fā)射頭UCM40T，發(fā)出40khz的脈沖超聲波，且持續(xù)發(fā)射200ms。右側(cè)合作側(cè)測距電路的輸入端分別接P1.1和P1.2端口，工作原理和前方測距電路相同。

超聲波發(fā)射持續(xù)200ms 輸出40kHz方波

3.2 超聲波的接收與處理

接收頭采用與發(fā)射頭配對的UCM40R，將超聲波調(diào)制脈沖變?yōu)殡妷盒盘?，?jīng)運算放大器ic1a和ic1b兩級放大后加至IC2,。IC2是帶有鎖定環(huán)的音頻譯碼集成塊LM567，內(nèi)部壓控振蕩器的中心頻率f0=1/1.1R8C3，電容C4決定其帶寬。調(diào)節(jié)R8在發(fā)射的載頻上，則LM567輸入信號大于25mv，輸出端8腳由5由高電平躍變?yōu)榈碗娖?，作為中斷請求信號，送至單片機處理。

前方測距電路的輸出端接至單片機INT0端口，中斷優(yōu)先級最高，左、右測距電路的輸出通過與門IC3A的輸出接單片機的INT1端口，同時單片機P1.3和P1.4接到IC3A的輸入端，中斷源的識別由程序查詢來處理，中斷優(yōu)先級為先右后左。部分源程序如下： receive1：push psw

push acc

clr ex1；關(guān)中斷源1

jnb p1.1，right;P1.1引腳為0，轉(zhuǎn)至右側(cè)距電路中斷服務(wù)程序

jnb p1.2,left;P1.2 引腳為0，轉(zhuǎn)至左測距中斷電路服務(wù)程序 returne：SETB EX1；

開外部中斷1

pop acc

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

pop psw

reti right：

...；

右測距電路中斷服務(wù)程序入口

ajmp return

left：

...；

左測距電路中斷服務(wù)程序入口

ajmp return

3.3 計算超聲波傳播時間

在啟動發(fā)射電路的同時啟動單片機內(nèi)部的定時器T0，利用定時器的計數(shù)功能，記錄超聲波發(fā)射的時間和受到反射波的時間。當收到超聲波反射波時，接受電路輸出端產(chǎn)生一個負跳變，在INT0或INT1端產(chǎn)生一個中斷請求信號，單片機響應(yīng)外部中斷請求，執(zhí)行外部中斷服務(wù)子程序，讀取時間差，計算距離。其部分源程序如下：

RECEIVEO: PUSH PSW

PUSH ACC CLR EX0;

關(guān)外部中斷0 讀取時間值

MOV R7,TH0;MOV R6,TL0 CLR C MOV A,R6 SUBB A,#0BBH;MOV 31H,A;MOV A,R7 SUBB A,#3CH MOV 30H,A SETB EX0;POP ACC

POP PSW

RETI 對于一個平坦的目標，測量距離包括兩個階段：粗糙的測量和精細的測量。第一步：脈沖的傳送產(chǎn)生一種簡單的超聲波

第二步：根據(jù)公式改變回波放大器的獲得量直到回撥被檢測到。第三步：檢測兩種回波的振幅與過零時間。

計算時間值 存儲結(jié)果

開外部中斷0

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

第四步：設(shè)置回波放大器的所得規(guī)格輸出，假定是3v。通過脈沖的周期設(shè)置下一個脈沖。根據(jù)第二部的數(shù)據(jù)設(shè)定時間窗。

第五步：發(fā)射兩竄脈沖產(chǎn)生干擾波。測量過零時間與回波振幅。如果逆向發(fā)生在回波中，決定要不通過在低氣壓插入振幅。

第六步：通過公式計算距離y。

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

4、超聲波測距系統(tǒng)的軟件設(shè)計

軟件分為倆部分，主程序和中斷服務(wù)程序。主程序完成初始化工作、各路超聲波發(fā)射和接收順序的控制。定時中斷服務(wù)子程序完成三方向超聲波的輪流發(fā)射，外部中斷服務(wù)子程序主要完成時間值的讀取、距離計算、結(jié)果的輸出等工作。

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

5、結(jié)論

對所要求測量范圍30cm-200cm內(nèi)的平面物體做了多次測量發(fā)現(xiàn)，其最大誤差為1.5cm，且重復(fù)性好?？梢娀趩纹瑱C設(shè)計的超聲波測距系統(tǒng)具有硬件結(jié)構(gòu)簡單、工作可靠、測量誤差小等特點。因此，它不僅可用于移動機器人，還可以用在其他檢測系統(tǒng)中。

思考：至于為什么不用接收管做放大電路，因為放大倍數(shù)搞不好，集成放大電路，還帶自動電平增益控制，放大倍數(shù)為76db，中心頻率是38k到40k，剛好是超聲波傳感器的諧振頻率。

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

參考文獻

1.Fox，J.D.，Khuri-Yakub，B.T.and Kino，G.S.，“High Frequency Acoustic Wave Measurement in Air”，in Proceedings of IEEE 1983 Ultrasonic Symposium，October 31-2 November，1983，Atlanta，GA，pp.581-4.2.Martin Abreu，J.M.，Ceres,R.And Freire,T.,“Ultrasonic Ranging: Envelope Analysis Gives Improved Accuracy”,Sensor Review, Vol.12 No.1,1992,pp.17-21.3.Parrilla， M., Anaya,J.J and Fritsch C.,‖Digital Signal Processing Techniques for High Accuracy Ultrasonic Range Measurement:,IEEE Transactions: Instrumentation and Measurement.Vol.40 No.4, August 1991,pp.750-63.4.Canali, C., Cicco, G.D., Mortem, B., Prudenziati, M., and Taron, A., ―A Temperature Compensated Ultrasonic Sensor Operating in Air for Distance and Proxinmity Measurement‖, IEEE Trasaction on Industry Electronics, Vol, IE-29 No.4,1982, pp.336-41.5.Martin, J.M., Ceres, R., Calderon, L and Freire, T., ‖Ultrasonic Ranging Gets Themal Correction‖, Sensor Review, Vol, 9 No.3, 1989,pp.153-5.中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

Ultrasonic ranging system design Publication title: Sensor Review.Bradford:1993.Vol.13 ABSTRACT: Ultrasonic ranging technology has wide using worth in many field, such as the industrial locale, vehicle navigation and sonar engineering.Now it has been used in level measurement, self-guided autonomous vehicles, fieldwork robots automotive navigation, air and underwater target detection, identification ,location and so on.So there is an important practicing meaning to learn the ranging theory and ways deeply.To improve the precision of the ultrasonic ranging system in hand, satisfy the request of the engineering personal for the precision,the bound and the usage, a portable ultrasonic ranging system based on the single chip processor was developed.Keywords: Ultrasound r, Ranging System, Single Chip Processor

1.Introductive With the development of science and technology, the improvement of people’s standard of living, speeding up the development and construction of the city.Urban drainage system have greatly developed their situation is constantly improving.However, due to historical reasons many unpredictable factors in the synthesis of her time, the city drainage system.In particular drainage system often lags behind urban construction.Therefore, there are often good building excavation has been building facilities to upgrade the drainage system phenomenon.It brought to the city sewage, and it is clear to the city sewage and drainage culvert in the sewage treatment system.Confort is very important to people’s lives.Mobile robots designed to clear the drainage culvert and the automatic control system Free sewage culvert clear guarantee robot, the robot is designed to clear the culvert sewage to the core.Control System is the core component of the development of ultrasonic range finder.Therefore, it is very important to design a good ultrasonic range finder.1.1 subject background

With the development of economy and car scientific and technological progress, highway traffic presents driving fast pace, traffic dense is changed and the driver not professional trend.At the same time, along with the rapid development of auto industry, automobile yield and quantities are increased dramatically.But road development，中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

transportation management is relatively backward, leading to a large number of traffic accidents in some cities, especially prominent.Intelligent transportation system in the world, ITS transportation science and technology of advanced technology, ITS exerting existing infrastructure of potential, enhance the transport efficiency, safeguard traffic safety and ease traffic wager plug, improving urban environment aspects of outstanding performance, has received the governments of widespread concern.The Chinese government is also highly intelligent transportation system of the development and popularization applications.The automotive anti-collision system as ITS development of a base, ITS success to the whole system has a very significant role.Traditionally, auto safety said can be divided into two main research direction: first,it is active safety technology, including the prevention of accidents, the way is now automotive safety research ultimate purpose;second, it is passive safety technique, namely the occupant protection after the accident.Now automotive safety field passive safety more research, mainly from the airbag, ABS(antilock brakes)and suspension from the aspects such as to ensure safety of personnel rides.From the economic and safety two ways, these passive safety measures is the accident of vehicle and personnel moments protection, with great limitations, thus vehicle active safety research is particularly important, leads to a of this study is based on single chip ultrasonic ranging system.This system is a kind of can advance to the driver issued audio-visual speech signal detection devices.It is installed in cars that can detect trying to approach the body of a car pedestrians and vehicles or around obstacles, Can send to the driver and crew imminent danger ahead of the signal, prompting a crash drivers take emergency measures to cope with special danger, avoid the loss.1.2 question design significance

Along with the development of modern society industrialization process, car this traffic tools are used for more and more people, but any problem has obvious that along with the increase in vehicles, traffic accident, which led to the frequent occurrence of casualties and property losses number astonishing.For highway traffic accident analysis showed that more than 80% of the accident due to the driver reaction inferior things, caused more than 65% of vehicle collision, the rest belongs to tracing cauda collided belongs to the side collision.Mercedes-benz Automobile Company for all kinds of traffic accident research shows that: if the driver can early 1S are aware

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

that a accident risk and take the appropriate corrective measures, the overwhelming majority of traffic accidents can be avoided.Therefore, vigorously research and development as the automotive anti-collision device etc active car auxiliary safe device, reduce the burden and misjudgments drivers to improve the traffic safety will play an important role.Obviously, this kind of product research and development has great realize meaning and broad application prospects.1.3 Ultrasonic ranging in automotive applications introduced

Ultrasonic back-draft rangefinder(known as electron optics)automotive anti-collision reversing device, can safe adjunct to sound or more intuitive digital form the dynamic display of around obstacles.Its earlier products is to use buzzer alarm, hum more anxious, and says vehicles from obstructions closer.Subsequent product can display the car from the body after the obstacles distance.Most of its products detection range in 0.4 ~ 1.5 m, some product can achieve 0.35 ~ 2.5 m, and have distance display, sound alarm, area-warning and azimuth instructions, some products also has the boot self-checking function.Still appeared on the market at present with voice alarm function of products.These products are the main problem is big, alarm measuring blind area lags behind, without considering the automobile braking inertial factors and make drivers brake lag, the anti-interference ability is not strong, misstatement or more.The automotive anti-collision radar is able to realize impact-proof alarm functions, basically have ultrasonic this intangible ruler, it recently obstacles distance measurement, and told to the owner.Actually ultrasonic range-finding principle simple: it emit ultrasonic echo, and receive reflected by microcontroller counter obtain both lag using formula S = t, Ct / 2 calculating distances, including S for cars and obstacles, C for the distance between the sound wave propagation in the medium speed.This paper introduces the ultrasonic ranging system only have 2 ultrasonic transducer(known as probe)respectively, decorate in cars left and right after after 2 position.Capable of detecting forward and reverse direction obstacle distance, the rearview mirror built-in display element display distance and direction, issued must be sound, plays the role of hints and alert.System USES a STC89C52 SCM two way ultrasonic signal cyclicly acquisition.Ultrasonic refers to the 20HHZ wave frequency is over.In order to use the ultrasonic detection means, must generate as ultrasonic wave and receiving damnation.Complete the functions of the device is called the

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

ultrasonic sensor, habit, ultrasonic transducer or ultrasonic probe.Ultrasonic sensors have both transmitters and receivers, but a ultrasonic sensors can also has the sending and receiving the sound waves of the dual role.Ultrasonic sensors is using the principle of piezoelectric effect and ultrasonic energy conversion, be in namely emit ultrasonic, energy conversion, launch ultrasonic, And in the stockades, received echo ultrasonic vibration into electrical signal.Ultrasonic ranging principle generally USES the time method for the crossing.First measured ultrasonic from the launch to meet obstacles returns experience of time, again multiply ultrasonic speed of get twice the distance between the sound source and obstacles.Measuring distance a variety of ways, short can use ruler, long-range laser displacement etc, are suitable for high accuracy of ultrasonic ranging in long distance measurement.Because of ultrasound in standard air of propagation speed 331.45 meters per second, by single-chip microcomputer is responsible for timing, SCM use 12.0 M crystals, so the system of measurement precision theory can achieve mm level.Because of ultrasonic directivity strong, energy consumption is slow, in a medium transmission distance, thus ultrasonic can be used for distance measurement.Using ultrasonic detection distance, the design is more convenient, computing procese also relatively simple, and the measurement precision can also meet the requirements.Ultrasonic generator can be divided into two kinds: one kind is to use electrical means producing ultrasonic, one kind is with mechanical approach to producing ultrasonic.This design belongs to nearly distance measurement, can use commonly used the piezoelectric ultrasonic transducer to achieve trigger unit.Using ultrasonic ranging work, can according to measuring launch reflection wave wave and the time interval between the measured distance, so as to achieve the effect.It mainly have three ranging methods:

(1)phase assay, phase assays high precision, but detection though limited range，(2)sound amplitude assay, acoustic amplitude assay vulnerable reflection wave influence;

(3)ferrying more time assay, crossing the time assay way of working is simple, intuitive, in hardware control and software design are very easy to implement.Its principle is: from the launch emit ultrasonic detection sensor, the gas medium spread to receive sensor of time, this time is crossing the more time.This design is the use of ultrasonic ranging the crossing the time assay.In the mobile vehicles of the application 15

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

of ultrasonic sensor is the use of ultrasound in air of directional spread and solid reflective characteristics(p-wave)and by receiving their launch ultrasonic reflecting signal, according to the ultrasonic issued and echo receiving the Windows and propagation speed, calculate transmission distance, thus obtains the obstacles to vehicle distance.中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

2.A principle of ultrasonic distance measurement

2.1 the principle of piezoelectric ultrasonic generator

Piezoelectric ultrasonic generator is the use of piezoelectric crystal resonators to work.Ultrasonic generator, the internal structure as shown, it has two piezoelectric chip and a resonance plate.When it’s two plus pulse signal, the frequency equal to the intrinsic piezoelectric oscillation frequency chip, the chip will happen piezoelectric resonance, and promote the development of plate vibration resonance, ultrasound is generated.Conversely, if the two are not inter-electrode voltage, when the board received ultrasonic resonance, it will be for vibration suppression, then it becomes the ultrasonic receiver.The traditional way to determine the moment of the echo’s arrival is based on thresholding the received signal with a fixed reference.The threshold is chosen well above the noise level, whereas the moment of arrival of an echo is defined as the first moment the echo signal surpasses that threshold.The intensity of an echo reflecting from an object strongly depends on the object’s nature, size and distance from the sensor.Further, the time interval from the echo’s starting point to the moment when it surpasses the threshold changes with the different intensities arriving exactly at the same tome will surpass the threshold at different moments.The stronger one will surpass the threshold earlier than the weaker, so it will be considered as belonging to a nearer object.2.2 The principle of ultrasonic distance measurement Ultrasonic transmitter in a direction to launch ultrasound, in the moment to launch the beginning of time at the same time, the spread of ultrasound in the air, obstracles on his way to return immediately, the ultrasonic reflected wave wave received by the reveiver immediately stop the clock.Ultrasonic in the air as the propagation velocity of 340m/s, according to the timer records the time t, we can calculate the distance between the launch distance barrier(s), that is:s=340t/2

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

3.Ultrasonic Ranging System for the Second Circuit Design

System is characterized by single-chip microcomputer to control the use of ultrasonic transmitter and ultrasonic receiver since the launch from time to time, single-chip selection of 8751,economic-to –use, and the chip has 4K of ROM, to facilitate programming.Circuit schematic diagram shown in Figure 1.Figure 1 circuit principle diagram

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

3.1 40 kHz ultrasonic pulse generated with the launch

Ranging system using the ultrasonic sensor of piezoelectric sensors UCM40, its operating voltage of the pulse signal is 40kHz, which by the single-chip implementation of the following procedures to generate.Puzel:mov 14h,# 12h;ultrasonic firing continued 200ms here:cpl pl.0;output 40 kHz square wave

nop;

nop;nop;djnz 14h, here;ret Ranging in front of single-chip termination circuit P1.0 input port, single chip implementation of the above procedure, the P1.0 port in a 40kHz pulze output signal, after amplification transistor T, the drive to launch the first ultrasonic UCM40T, issued 40kHz ultrasonic pulse, and the continued launch of 200ms.Ranging the right and the left side of the circuit, respectively, then input port P1.1 and P1.2, the working principle and circuit in front of the same location.3.2 Reception and processing of ultrasonic

Used to receive the first launch of the first pair UCM40R, the ultrasonic pulse modulation signal into an alternating voltage, the op-amp amplification IC1A and after polarization IC1B to IC2.IC2 is locked loop with audio decoder chip LM567, internal voltage-controlled oscillator center frequency of f0=1/1.1R8C3, capacitor C4 determine their target bandwidth.R8-conditioning in the launch of the carrier frequency on the LM567 input signal is greater than 25Mv, the output from the high jump 8 feet into a low-level, as interrupt request signals to the single-chip processing.Ranging in front of single-chip termination circuit port INT0 interrupt the highest priority, right or left location of the output circuit with output gete IC3A access INT1 port single-chip, while single-chip P1.3 and P1.4 received input IC3A, interrupted by the process to identify the source code is as follows: receivel:

push psw

push ace

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

cir ex1: related external interrupt 1

jnb p1.1, right;P1.1 pin to 0, ranging from right to interrupt service rountine circuit

jnb p1.2, left;P1.2 pin to 0, to the left ranging circuit

interrupt service routine return:SETB EX1;open external interrupt 1

pop

acc pop

psw reti right:…;right location entrance circuit interrupt service rountine

Ajmp Return left:…;left Ranging entrance circuit interrupt service rountine

Ajmp Return

3.3 The calculation of ultrasonic propagation time

When you start firing at the same time start the single-chip circuitry within the timer T0, the use of timer counting function records the time and the launch of ultrasonic reflected wave received time when you receive the ultrasonic reflected wave, the receiver circuit outputs a negative jump in the end of INT0 or INT1 interrupt request generates a signal, single-chip microcomputer in response to external interrupt request, the implementation of the external interrupt service subroutine, read the time difference, calculating the distance.Some of its source is as follows: RECEIVE0: PUSH PSW PUSH ACC CLR EX0;related external interrupt 0 MOV R7, TH0;read the time value MOV R6, TL0 CLR C MOV A, R6 SUBB A,#0BBH;calculate the tome difference MOV 31H, A;storage results MOV A, R7 SUBB A,#3CH

中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

MOV 30H,A SETB EX0;open external interrupt 0 POP ACC POP PAW RETI For a flat target, a distance measurement consists of two phases: a coarse measurement and, a fine measurement: Step 1: Transmission of one pulse train to produce a simple ultrasonic

Wave.Step 2: Changing the gain of both echo amplifiers according to equation，until the echo is detected.Step 3:detection of te amplitudes anf zero-crossing times of both echoes.Step 4:setting the gains of both echo amplifiers to normalize the output at, say 3 volts.Setting the period of the next pulses according to the: period of echoes.Setting the time window according to the data of step 2.Step 5:sending two pulse trains to produce an interfered wave.Testing the zero-crossing in the echo,detemine to otherwise calculate to by interpolation using the amplitudes near the trough.Derive t sub ml and t sub m2.Step6: Calculation of the distance y using equation.中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

4.The ultrasonic ranging system software design

Software is divided into two parts, the main program and interrupt service routine.Completion of the work of the main program is initialized, each sequence of ultrasonic transmitting and receiving control.Tnterrupt service routines from time to complete three of the rotation direction of ultrasonic launch, the main external interrupt service subroutine to resd the value of completion time, distance calculation, the results of the output and so on.中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

5.Conclusions

Required measuring range of 30cm~200cm objects inside the plane to do a number of measurements found that the maximum error is 0.5cm, and good reproducibility.Single-chip design can be seen on the ultrasonic ranging system has a hardware structure is simple, reliable, small features such as measurement error.Therefore, it can be used not only for mobile robot can be used in other detection systems.Thoughts: As for why the receiver do not have the transistor amplifier circuit, because the magnification well, integrated amplifier, but also with automatic gain control level, magnification to 76dB, the center frequency is 38k to 40k, is exactly resonant ultrasonic sensors frequency.中原工學(xué)院畢業(yè)設(shè)計（論文）譯文

REFERENCES 1.Fox,J.D.,Khuri-Yakub, B.T.and Kino, G.S., ‖High Frequency Acoustic Wave Measurement in Air‖, in Proceedings of IEEE 1983 Ultrasonic Symposium, October 31-2 November, 1983, Atlanta, GA, pp.581-4.2.Martin Abreu,J.M.,Ceres,R.and Freire, T.,‖Ultrasonic Ranging: Envelope Analysis Gives Improved Accuracy‖, Sensor Review, Vol.12No.1,1992, pp.17-21.3.Parrilla， M., Anaya,J.J and Fritsch C.,‖Digital Signal Processing Techniques for High Accuracy Ultrasonic Range Measurement:,IEEE Transactions: Instrumentation and Measurement.Vol.40 No.4, August 1991,pp.750-63.4.Canali, C., Cicco, G.D., Mortem, B., Prudenziati, M., and Taron, A., ―A Temperature Compensated Ultrasonic Sensor Operating in Air for Distance and Proxinmity Measurement‖, IEEE Trasaction on Industry Electronics, Vol, IE-29 No.4,1982, pp.336-41.5.Martin, J.M., Ceres, R., Calderon, L and Freire, T., ‖Ultrasonic Ranging Gets Themal Correction‖, Sensor Review, Vol, 9 No.3, 1989,pp.153-5.24

第五篇：外文翻譯

Low Voltage Flyback DC-DC Converter For

Power Supply Applications Hangzhou Liu1, John Elmes2, Kejiu Zhang1, Thomas X.Wu1, Issa Batarseh1

Department of Electrical Engineering and Computer Science, University of Central Florida, Orlando, FL 32816, USA Advanced Power Electronics Corporation, Orlando, FL 32826, USA Abstract ：In this paper, we design a low voltage DC-DC converter with a flyback transformer.The converter will be used as a biased power supply to drive IGBTs.The flyback transformer using planar EI-core is designed and simulated using ANSYS PExprt software.Besides, anLT3574 IC chip from Linear Technology has been chosen for converter control.Finally, the converter modeling and simulation are presented and PCB layout is designed.Keywords：Flyback, anLT3574IC, PCB

I.INTRODUCTION The goal of this project is to develop and build a prototype of a high-efficiency, high-temperature isolated DC-DC converter to be used as a biased power supply for driving a complementary IGBT pair.It is important that the converter can deliver the required power at an ambient temperature of up to 100℃;therefore it has to be efficient so that its components do not exceed their maximum temperature ratings.The final converter will be completely sealed and potted in a metal case.The input voltage range for this converter is from 9V to 36V.The output sides have two terminals, one is﹢16V and the other one is﹣6V.In order to get the desired performance, anLT3574 IC chip from Linear Technology is used.The key to this design is the flyback transformer.The transformer using planar EI-core is designed and simulated using ANSYS PExprt software.Finally, the PCB layout of the converter will be presented.II.KEY DESIGN OUTLINE For this flyback topology, the output voltage can be determined by both the transformer turns ratio and the flyback loop resistor pairs.Therefore, at the initial design stage, we can choose a convenient turn’s ratio for the transformer, and modify it later on if necessary to make sure the output performance is desirable and the transformer will not saturate [1].The relationship between transformers turns ratio and duty cycle can be found as

Where n is the transformer turns ratio, D is the duty cycle, VO` is the sum of the output voltage plus the rectifier drop voltage, VIN is the input voltage of the transformer.The value of feedback resistor can be calculated as

Where RREF is the reference resistor, whose value is typically 6.04k?;α is a constant of 0.986;VBG is the internal band gap reference voltage, 1.23V;and VTC is normally 0.55V [1].With a specific IC chosen, the converter circuit can be designed based on a demo circuit and some parameters may need to be modified if necessary to optimize the performance.Furthermore, in LT Spice, a large number of simulations need to be done with different conditions such as load resistor values and input voltage levels.It is important to make sure that the output voltage can be regulated well with all these different conditions.The most critical part of the design is the flyback transformer.With high switching frequency, the AC resistance can only be estimated based on some traditional methods such as Dowell’s curve rule [2].In order to get more accurate values of AC resistance values;we propose to use finite element electromagnetic software ANSYS PExprt to do the design [3].At the initial design stage, key parameters such as the worst-case input voltage, frequency, material, inductance values will be decided.After that, these data will be imported to the software, from which an optimized solution will be generated.III.CONVERTER SIMULATION RESULTS We choose LT3574 chip in this design.From the simulation results in Figure 1 and Table 1, it clearly shows that the output voltages which are﹢16V and-6V respectively can be regulated pretty well with the input voltage range from 9V to 36V.The voltage tolerance ranges are from ﹢15V to ﹢19V and-12V toDC converter for low voltage power supply application has been designed.The modeling and simulation results are presented.Based on the design specifications, a suitable IC from Linear Technology is chosen.A large amount of circuit simulations with different conditions such as load resistor values and input voltage levels are presented to get the desirable output voltage and current performance.The transformer has been designed including electrical, mechanical and thermal properties.With all the specific components decided, the PCB layout of the converter has been designed as well.REFERENCE

[1] Linear Technology Application Notes , Datasheet of Isolated Flyback Converter Without an Opto-Coupler, http://cds.linear.com/docs /Datasheet/3574f.pdf.[2] P.L.Dowell, “Effect of eddy currents in transformer windings” Proceedings of the IEE, NO.8 PP.1387-1394, Aug 1966.[3] S.Xiao, “Planar Magnetics Design for Low-Voltage DC-DC Converters” MS, 2004.[4] ANSYS Application Notes, PEmag Getting Started: A Transformer Design Example, http://004km.cn/download/ EDA/Maxwell9/planarGS0601.pdf.[5] K.Zhang;T.X.Wu;H.Hu;Z.Qian;F.Chen.;K.Rustom;N.Kutkut;J.Shen;I.Batarseh;“Analysis and design of distributed transformers for solar power conversion” 2011 IEEE Applied Power Electronics Conference and Exposition(APEC), v l., no., pp.1692-1697, 6-11 March 2011.[6] Zhang.;T.X.Wu.;N.Kutkut;J.Shen;D.Woodburn;L.Chow;W.Wu;H.Mustain;I.Batarseh;,“Modeling and design optimization of planar power transformer for aerospace applic ation,” Proceedings of the IEEE 2009 National, Aerospace & Electronics Conference(NAECON), vol., no., pp.116-120, 21-23 July 2009.[7] Ferroxcube Application Notes, Design of Planar Power Transformer,