基于飞思卡尔16位单片机智能小车设计 - 图文

本科生毕业论文（设计）

基于飞思卡尔16位单片机智能小车设计

姓 名：

指导教师： 郭一军

院 系： 信息工程学院

专 业： 电子信息工程

提交日期： 2010年3月

黄山学院本科毕业论文

目录

中文摘要： ...................................................................................................................................... 3 Abstract： ........................................................................................................................................ 4 第一章 绪论 .................................................................................................................................. 5

1.1 智能汽车赛事概况 ............................................................................................................ 5 1.2 课题研究现状 .................................................................................................................... 5 1.3 本课题的研究内容 ............................................................................................................ 6 第二章 智能车系统总体概述......................................................................................................... 7

2.1 智能车系统组成 ................................................................................................................ 7 2.2 系统各模块的主要功能 .................................................................................................... 7 2.3 系统的主要特点 ................................................................................................................ 7 第三章 智能车机械调整................................................................................................................. 9

3.1 传感器的选择方案、布局与安装 .................................................................................... 9

3.1.1 传感器选择 ............................................................................................................. 9 3.1.2 传感器布局和安装 ................................................................................................. 9 3.2 舵机的安装 ........................................................................................................................ 9 3.3 前轮的调整 ........................................................................................................................ 9 3.4 核心板的安装 .................................................................................................................. 10 3.5 测速传感器的安装 .......................................................................................................... 10 第四章 硬件电路的设计............................................................................................................. 11

4.1 核心板I/O口分配电路设计 .......................................................................................... 11 4.2 电源模块电路设计 .......................................................................................................... 12 4.3 直流驱动电机控制电路设计 .......................................................................................... 13 4.4 传感器电路设计 .............................................................................................................. 14 第五章 智能车软件设计............................................................................................................. 16

5.1 系统软件流程图 .............................................................................................................. 16 5.2 系统的初始化设置 .......................................................................................................... 16

5.2.1 时钟模块 ............................................................................................................... 17 5.2.2 PWM模块 .............................................................................................................. 17 5.2.3 ECT模块 ............................................................................................................... 17 5.3 速度检测模块软件设计 .................................................................................................. 17 5.4 车体控制算法 .................................................................................................................. 18

5.4.1 PID控制算法 ........................................................................................................ 18 5.4.2 转向舵机的PD控制 ........................................................................................... 20 5.4.3 行进电机的PID控制 .......................................................................................... 21

总结 ................................................................................................................................................ 22 参考文献 ........................................................................................................................................ 23 附录A 实物图 ............................................................................................................................... 25 附录B 原理图 ............................................................................................................................... 26 附录C PCB图 ............................................................................................................................... 27

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黄山学院本科毕业论文

基于飞思卡尔16位单片机智能小车设计

指导老师：郭一军

（黄山学院信息工程学院，黄山，安徽 245041）

中文摘要：

随着汽车电子和机器人智能技术的发展，智能车已经成为自动控制领域内的一个研究热点。智能汽车是一种集环境感知、规划决策、自动行驶等功能于一体的综合系统，集中的运用到了自动控制、模式识别、传感器技术、汽车电子、电气、计算机、机械等众多学科，是典型的高新技术综合体，具有重要的军用及民用价值。本文讲述了以FREESCALE的MC9S12XS128为微处理器设计出一种能自动寻迹的智能小车。

本文着重阐述了道路信息的获取,处理和识别过程,并设计出PID控制器，运用有效的控制算法对智能小车进行控制,使智能小车能准确快速地对道路进行跟踪。该系统通过光电传感器获取当前道路信息，通过有效的数字图像处理算法对原始图像进行处理，对主要的有用信息进行分析和提取。在智能小车运动的控制中,对小车的转向和速度采用PID控制算法,控制表来对智能小车进行转向和速度控制。 关键词：单片机；智能汽车；PID控制算法

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黄山学院本科毕业论文

Based on Freescale 16-bit microcontroller

smart car design

Director：guoyijun Associate Director： （huangshan College , China, 310053）

Abstract：

With the development of automotive electronics and intelligent control technology,intelligent vehicle has become the research hotspots in the field of automatic control.Intelligent Vehicle is a complex system integrated with a sense of environment,planning decision and automatic driving.It is a typical high-tech complex with important military and civilian value,which focusing on the use of the automatic control,pattern recognition,sensor technology,automotive electronics, electrical,computer,machinery and many other disciplines.This article describes the design of an automatic tracing smart car based on the chip of FREESCALE MC9S12XS128.

The article focuses on the acquisition,processing and recognition of the target path information.The Fuzzy controller using an effective controlling algorithm for intelligent vehicle control makes the smart car track the road fast and accurate.With the CCD camera the system obtains the current road information and deal with the original image,the main useful analysis and information extraction through effective digital image processing algorithms.

According to the motion rules of the intelligent vehicle,fuzzy control algorithm and fuzzy PID algorithm can be applied to control the steering and speed of the intelligent vehicle separately.Fuzzy control rules can be generated according to the requirement of the path tracking,which is followed by the generation of the fuzzy control table,then the steering and motion speed of the intelligent vehicle can be regulated after querying the fuzzy control table according to the path information which is already inquired. Key Words：MCU, Smart Car, PID,

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