毕业设计（论文）-基于ARM_CORTEX_M4的磁导航自主路径识别系统.docVIP

摘要 本文详细介绍了基于ARM Cortex M4的磁导航自主路径识别系统。系统以飞思卡尔32位单片机MK60DN512ZVLL10为控制核心， 关键词：磁导航 自主路径识别 MK60DN512ZVLL10 PID  Abstract This paper describes the design and implementation process based on ARM Cortex M4 magnetic navigation path independent recognition system. This system MK60DN512ZVLL10 Freescale 32-bit microcontroller to control the core, through the inductor wire produces a magnetic field detection circuit is energized to determine the track information to control car autonomous driving. Cutting the magnetic field generated by the inductor signal, the first for a selected frequency, and then use the op amp to amplify the signal, and then use the AC signal Schottky diode detector, and finally into the AD position information obtained in the car on the track. In self-control car tracking in the direction and speed control are used positional PID and incremental PID. PID parameters during commissioning and system, also used the PC software. Key Words：magnetic navigation path independent recognition MK60DN512ZVLL10 PID  目录 摘要 I Abstract II 引言 - 1 - 1硬件电路 - 2 - 1.1单片机最小系统板 - 2 - 1.2电源模块 - 2 - 1.2.1 LM1117 - 2 - 1.2.2 LM2940 - 3 - 1.2.3 LM2576-ADJ - 3 - 1.2.4 主板总体设计 - 4 - 1.3 电机驱动模块 - 4 - 1.4 传感器模块 - 6 - 1.4.1磁感应传感器 - 6 - 1.4.1.1 选频电路设计 - 6 - 1.4.1.2放大电路设计 - 7 - 1.4.1.3检波电路设计 - 7 - 1.4.1.4磁感应传感器整体设计 - 7 - 1.4.1.5磁感应传感器的实际电路设计 - 8 - 1.4.2速度传感器 - 8 - 1.4.3起跑线检测传感器 - 8 - 2 机械调校 - 10 - 2.1 舵机的安装 - 10 - 2.2 前瞻的固定 - 10 - 2.2.1电感的排布 - 10 - 2.2.2前瞻的长度 - 11 - 2.3 编码器的安装 - 11 - 2.4 降低重心 - 11 - 3 软件编写 - 13 - 3.1 开发环境 - 13 - 3.2 程序下载 - 13 - 3.3 底层驱动编写 - 13 - 3.3.1 GPIO模块 - 14 - 3.3.1.1 打开时钟 - 14 - 3.3.1.2 设置引脚功能 - 15 - 3.3.1.3 GPIO口方向设置 - 15 - 3.3.2 PIT模块 - 16 - 3.3.2.1 时钟设置 - 16 - 3.3.2.2 使能PIT模块 - 16 - 3.3.2.3 计算并设定定时器初始值 - 16 - 3.3.2.4 使能PIT定时中断 - 17 - 3.3.3 ADC模块 - 17 - 3.3.3.1 ADC设置步骤 - 17 - 3.4 控制模块 - 18 - 3.4.1方向控制 - 18 - 3.4.2速度控制 - 18 - 3.4.3电感值处理 - 19 - 3.4.4丢失处理 - 20 - 3.5调试系统 - 20 - 3.5.1 调试工具 - 20 - 3.5.1.1 上位机软件 - 20 - 3.5.2.2 无线串口 - 21 - 3.5.2 PID参数整定 - 21 -