基于单片机的智能小车的系统设计.doc

基于单片机的智能车设计PAGEIII基于单片机的智能小车的系统设计DesignofIntelligentCarSystemBasedonMCU基于单片机的智能车设计[摘要]近几年来，智能车辆己成为汽车和智能控制领域的热点研究课题之一。它体现了自动控制、人工智能、传感技术、机械、计算机等多个学科领域理论技术的交叉和综合，本论文以飞思卡尔智能车大赛光电组为背景而展开。智能车系统以Freescale16位微控制器MC9S12XS128作为系统控制处理器，采用基于光电传感器的信号采样模块获取赛道黑线信息，通过PID控制策略和PWM控制技术对智能车的转向和速度进行控制。使智能车能够自主识别黑色引导线并根据黑色引导线实现快速稳定的寻线行驶。本论文分析了智能车系统的设计方案，详细介绍了智能车控制系统的软硬件设计，包括传感器模块、驱动电机模块、舵机转向模块、测速模块等，并详细介绍了软件控制算法的设计，最后，介绍了智能车的整体调整、测试。调试实验结果表明，智能车系统工作稳定，能较好的满足控制要求。[关键词]智能汽车；MC9S12XS128；光电传感器；控制算法DesignofIntelligentCarSystemBasedonMCUElectricalEngineeringandAutomationMajorSHIXiao-yingAbstract:Inrecentyears,intelligentvehicleshavebecomeahotresearchtopicofcarsandintelligentcontrolarea.Itembodiestheautomaticcontrol,artificialintelligence,sensortechnology,machinery,computersandmanyotherareasoftheintersectionoftechnologyandintegrated.Theintelligentcarsystem,withtheFresscale16-bitsingle-chipMC9S12XS128asitscontrolmicroprocessor,usessignalacquisitionmoduletoobtainlaneimageinformation,andadoptssignalPIDcontrolstrategytogetherwithPWMtechnologytohaveacontrolonthesteeringangleandspeedofthesystem.Themainfunctionthattheintelligentcarmayachieveisthatthecarshouldtracktheblack-guide-lineautomaticallyandmoveforwardfollowingthelineasfastandstableaspossible.Thispapergivesanoveralldesignblueprintoftheintelligentcarsystem,introducethehardwaredesignincludingsignalacquisitionmodule,powersupplymodule,motordrivemodule,servomotormodule,velocitycollectionmoduleandetc.andtheintelligentcarofthemechanicalstructureandadjustmentmethod.Finally,onthesmartcar’soveralldebuggingandtesting,theresultsshowthesmartcarhardwaresystemstability,betterabletomeettherequirementsofcontrol.Keywords:intelligentvehicles;MC9S12XS128;Photoelectricsensor;Controlalgorithm目录TOC\o"1-3"\h\z\uHYPERLINK\l"_Toc322979256"1引言PAGEREF_Toc322979256\h1HYPERLINK\l"_Toc322979257"1.1课题背景PAGEREF_Toc322979257\h1HYPERLINK\l"_Toc322979258"1.2智能技术国内外发展现状PAGEREF_Toc322979258\h1HYPERLINK\l"_Toc322979259"1.3课题研究的任务PAGEREF_Toc322979259\h1