基于激光传感器的自主寻迹智能小车控制系统.docxVIP

毕业设计 基于激光传感器的自主寻迹智能小车控制系统 系 别 自动化工程系 专 业 自动化 班级学号 5060601 姓 名 翁宁龙 指导教师 顾德英 2010年6月17日 基于激光传感器的自主寻迹智能小车控制系统 摘 要 本智能小车控制系统以 MC9S12XS128 微控制器为核心。利用一排15个激光发射管与8个接收管作为路径识别传感器,通过 MC9S12XS128 的I/O口获得传感器信号,经过路径识别算法得到赛道信息,从而确定小车相对于轨迹线的位置,并利用特征提取方法提取赛道类型,实现起跑线、十字交叉线的识别,同时设定小车的速度。通过舵机延时时间的测量以及工作原理,建立出舵机模型,采用PD控制算法输出PWM波控制舵机转向,完成对小车运动方向的控制。采用光电编码器获取小车的速度,经过与当前小车速度的设定值比较后得到速度偏差,然后采用PID算法计算并输出PWM脉冲控制电机驱动电路,从而调节电机的转速,完成对小车运动速度的闭环控制。为了提高小车的行驶速度和稳定性,采用数字滤波算法滤除错误的赛道信息。实验结果表明,该系统达到了预期设计效果,满足了实际需求。 关键词:MC9S12XS128,激光传感器,舵机模型,路径识别算法, PID Control system of smart car to identify the path based on laser sensors Author:Weng NingLong Tutor:Gu DeYing Abstract This control stystem of the smart car have used MC9S12XS128 microcontroller as the core. To use of laser sensors which number is 15 as Path identification sensor. The I/O module within MC9S12XS128 receive the sensor signals ,and to get information of track from Algorithm of path identification, and that will determine the location of model cars,and then,to use feature extraction to get type of track such as line of cross ,line of start and so on.To create model of steering gear by measure the delay of steering gear,PD control algorithm used to control steering gear shift and provide direction and one using encoder to get the speed of vehicles. A speed deviation will be gotten after the comparison with the current set value of speedthe use of PID control algorithm will calculate the deviation and output PWM pulse to control the motor drive circuit for adjustment of drive motor speed thus complete the model vehicle movement speed and movement direction of the closed-loop control. In order to improve the speed and reliability of the smart car ,to use digital filter which can filter error message. Experimental results show that the system has achieved the intended goal and met the actual demand. Key Words: MC9S12XS128, Laser sensors, Model of steering gear, Algorithm of path identification,PID 目 录 1 绪论 1 1.