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1、天津大學(xué)碩士學(xué)位論文無(wú)串?dāng)_超聲測(cè)距系統(tǒng)建模與仿真姓名：郝強(qiáng)申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：檢測(cè)技術(shù)與自動(dòng)化裝置指導(dǎo)教師：孟慶浩20070601摘要超聲波傳感器因其價(jià)格低廉、硬件容易實(shí)現(xiàn)而被廣泛應(yīng)用于移動(dòng)機(jī)器人測(cè)距領(lǐng)域。為了獲得更多的環(huán)境信息，通常采用多個(gè)超聲換能器組成傳感器環(huán)。傳感器環(huán)上相鄰換能器之間會(huì)產(chǎn)生超聲串?dāng)_現(xiàn)象，導(dǎo)致錯(cuò)誤的距離測(cè)量。常用的消除超聲串?dāng)_的方法分為兩種：基于啟發(fā)式的軟件處理法和基于硬件的編碼法。為了消除超聲串?dāng)_，本文在對(duì)現(xiàn)有文獻(xiàn)進(jìn)行研究和實(shí)驗(yàn)分析的基礎(chǔ)上做了以下工作：1．總結(jié)了該領(lǐng)域的研究現(xiàn)狀，在對(duì)超聲串?dāng)_問(wèn)題進(jìn)行分析的基礎(chǔ)上，找到了解決問(wèn)題的切入點(diǎn)
2、。2．利用DC．DC激勵(lì)超聲換能器。與原變壓器激勵(lì)模式相比，有效地減小了系統(tǒng)振蕩。3．采用ARMA模型建立了超聲測(cè)距系統(tǒng)的數(shù)學(xué)模型，在此模型基礎(chǔ)上對(duì)該系統(tǒng)電路特性進(jìn)行了研究，并對(duì)不同的激勵(lì)方式做了比較研究。4．基于ARMA系統(tǒng)模型對(duì)脈沖寬度調(diào)制、頻率調(diào)制和相位調(diào)制等方法進(jìn)行仿真，分析了三種調(diào)制方式的傳輸特性，并比較了各自的相關(guān)結(jié)果。5．通過(guò)對(duì)不同長(zhǎng)度序列的仿真分析，給出了序列長(zhǎng)度與序列相關(guān)性之間的關(guān)系；對(duì)于短序列相關(guān)性不易確定的問(wèn)題，引入了短序列相關(guān)柵格圖的概念。關(guān)鍵詞：移動(dòng)機(jī)器人、超聲換能器、串?dāng)_、相關(guān)、編碼、調(diào)制ABSTRACTUltrasonicsenso
3、rshavebeenwidelyusedinthefeildofmobileroboticsfordistancemeasurementwithresonablecostandmodestsystem’scomplexity．Inordertoprovidemobilerobotswith．moreenvironmentalinformation，normallyasensorringwithmultipleultrasonictransducersisrequired．Crosstalkphenomenon，whichcanresultinerroneousd
4、istancemeasurement，oftenoccursamongadjacenttransducersonthesensorring．Twodifferentkindofmethodshavebeenusedbyresearcherstoeliminateultrasoniccrosstalk,whicharecalledheuristicsbasedsoft—processingmethodandhardwarebasedcodemethod，respectively．Thefollowingworkhasbeendoneinthisthesis．1．T
5、hestateofartsofeliminatingofultrasoniccrosstalkissummarized．Thecut—inpointisfoundtosolvetheultrasoniccrosstalkproblem．2．TheultrasonictransducerisexcitedbythecircuitbasedonDC—DCmodule．Thesystemoscillatingtimeiseffectivelyreduced，comparedwiththetransformerbaseddrivemode．3．TheMathematic
6、smodeloftheultrasonicrangesystemisbuilt．Thecircuitcharacteristicisstudiedbasedonthismodelanddifferenttriggeringmethodsarecompared．4．Pulsewidthmodulation，frequencymodulationaswelasphasemodulationaresimulatedbythesystemmodel．Thesemodulatingmethodsaleanalyzedandtheircorrelationresultsar
7、ecompared．一5．Byanalyzingthecorrelationresults．ofsequenceswithdifferentlength，therelationshipbetweenlengthandcorrelationvalueofsequencesispresented．Toovercometheunpredictabilityofshortsequencecorrelations，theconceptofcorrelationgridmapofshortsequenceisputforward．KEYWORDS：Mobilerobot,U
8、ltrasonictra
