基于stm32f103的小车控制系统的设计-论文.doc

毕业论文 基于STM32F103的小车控制系统的设计 摘 要 对于小车的控制，即是对于电机的控制。电机作为机电能量转换装置，其应用范围已遍及国民经济的各个领域以及人们的日常生活中，所以怎么更好的对电机进行控制就显得尤为重要。基于Cortex- M3内核的STM32F10x系列芯片是新型的32位嵌入式微处理器，其性能优良，移植性好，提高了对直流电机的控制效率，并对控制系统进行模块化设计，有利于智能小车的功能扩展和升级。 本论文主要分析了基于STM32F103的小车控制系统的设计过程。此系统主要包括STM32F103控制器、液晶显示电路、键盘控制电路、电机驱动电路、红外探测电路、触角检测电路等。以STM32F103主控芯片及其外围扩展电路实现系统整体功能；小车基本运动模式的选择及速度调节用按键开关式的键盘输入实现；同时液晶模块实时显示小车运动参数；用红外探测电路实现小车循迹功能；用触角传感检测模块实现小车简单避障功能。在硬件设计的基础上提出了实现电机控制功能、LCD显示功能及小车简单循迹和避障功能的软件设计方案，并在STM32集成开发环境IAR EWARM 5.3下编写了控制程序。 关键词：PWM，STM32F103，电机，传感器 ABSTRACT The controlling to the car is the controlling to the motor. As a mechanical and electrical energy conversion devices, motor has been applied in every field of national economy and peoples daily life, therefore, how to control the motor better is particularly important. The STM32F10x series chip based on Cortex-M3 kernel is the new 32-bit embedded MCU, which have the good performance and portability, and the STM32F10x have improved the efficiency of DC motor control, furthermore, the modular design of control system is helpful for function expansion and upgrades. This paper mainly analyzes the design process of the car’s control system ,which uses the STM32F103 as a master chip. This system primarily contains the STM32F103 controller, LCD circuit, the control circuit of keyboard, the circuit of motor-driven, the infrared detection circuit, the circuit of tentacles sensor etc. In this design, the whole system is controlled by the chip STM32F103 and its peripheral extended circuit; the basic model’s selection and speed accommodation can realize by the input of keyboard; at the moment , LCD module display the car’s moving parameters real-timely; the infrared detection realize car’s tracing function; tentacles sensor module complete the car’s simple obstacle-avoidance function. Based on Hardware design, the paper puts forward a software design scheme to realize the motor controlling, LCD display function , the car’s simple trace and obstacle avoida